An Approach to Data Utilization of The Lokomat Rehabilitation Robot

The use of exoskeleton robot wornon human body has been widely researchedand some have been commercialized. Lowerlimb exoskeleton robot worn in parallel onhuman lower body has found many applicationsespecially in the rehabilitation of human walkinggait. It is used as a robotic therapy in assistingpatient with walking difficulties to recover backhis walking ability. Using Lokomat rehabilitationrobot for therapy is not meant to guide the patientto walk only; but this robotic therapy systemhas the ability to record information signalsduring each therapy session. It is found out thatless research and attention has been given onthe methods that can utilize the recorded datawhich could be very useful and very informativefor physiotherapy study. Thus, the objective ofthis paper is to highlight the method to utilizethe recorded data from Lokomat physiotherapysession

Modeling and simulation study of electromechanically system of the human extremity exoskeleton

In order to design a suitable control scheme for human extremity exoskeleton, the interaction force control scheme which regards human body as the work environment of human extremity exoskeleton was proposed. And then, the electromechanical system of human extremity exoskeleton was simplified, and the modeling and simulation study of the electromechanical system by using Matlab/Simulink module was carried out. The angular deviations between human extremity exoskeleton joints and human body joints were obtained by the simulation. Besides, the torques provided by human body and motors for human extremity exoskeleton joints to bear heavy payload were calculated. The analysis of the simulation calculation results proves that the interaction force control scheme can achieve good man-machine coordinated walking as well as help human body bear heavy payload. Besides, the upper extremity exoskeleton experiment was conducted, and the same conclusion with the simulation study was obtained

Simulation Of Control For Reduced Dof Lower Limb Exoskeleton Robot Using Cad Design

These years, there has been continuous development in the research of exoskeleton robot for many purposes like augmentation, physical assistance and rehabilitation therapy. Basedon statistics, aging population with weakened limbs and people with lower limb disabilities are always increasing. Many therapists are required to perform physiotherapy for walking rehabilitation. Exoskeleton robot research contributes in helping those people to regain normal walking ability. In this research, a lower limb exoskeleton robot for rehabilitation is proposed. Developing the exoskeleton structure and control is challenging in assisting patient to initiate locomotion and walk while providing additional power to the motion. The objective of this research is to design a lower limb exoskeleton robot structure with using mechanical engineering CAD software. Then to investigate the tracking response performed by the exoskeleton to given input to its control system. The research started with the lower limb exoskeleton robot CAD drawing. The CAD design is simulated and its dynamic response is studied. This research finding will improve the studies on the effect of the lower limb exoskeleton robot on rehabilitation therapy. Developing a simple and effective lower limb exoskeleton model can significantly contribute to the advancement of the rehabilitation therapy and health industrial needs

Simulation Of Control For Reduced DOF Lower Limb Exoskeleton Robot Using CAD Design

These years, there has been continuous development in the research of exoskeleton robot for many purposes like augmentation, physical assistance and rehabilitation therapy. Basedon statistics, aging population with weakened limbs and people with lower limb disabilities are always increasing. Many therapists are required to perform physiotherapy for walking rehabilitation. Exoskeleton robot research contributes in helping those people to regain normal walking ability. In this research, a lower limb exoskeleton robot for rehabilitation is proposed. Developing the exoskeleton structure and control is challenging in assisting patient to initiate locomotion and walk while providing additional power to the motion. The objective of this research is to design a lower limb exoskeleton robot structure with using mechanical engineering CAD software. Then to investigate the tracking response performed by the exoskeleton to given input to its control system. The research started with the lower limb exoskeleton robot CAD drawing. The CAD design is simulated and its dynamic response is studied. This research finding will improve the studies on the effect of the lower limb exoskeleton robot on rehabilitation therapy. Developing a simple and effective lower limb exoskeleton model can significantly contribute to the advancement of the rehabilitation therapy and health industrial needs

Modeling and simulation study of electromechanically system of the human extremity exoskeleton

In order to design a suitable control scheme for human extremity exoskeleton, the interaction force control scheme which regards human body as the work environment of human extremity exoskeleton was proposed. And then, the electromechanical system of human extremity exoskeleton was simplified, and the modeling and simulation study of the electromechanical system by using Matlab/Simulink module was carried out. The angular deviations between human extremity exoskeleton joints and human body joints were obtained by the simulation. Besides, the torques provided by human body and motors for human extremity exoskeleton joints to bear heavy payload were calculated. The analysis of the simulation calculation results proves that the interaction force control scheme can achieve good man-machine coordinated walking as well as help human body bear heavy payload. Besides, the upper extremity exoskeleton experiment was conducted, and the same conclusion with the simulation study was obtained

Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton

A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The exoskeleton is required to shadow human motion intent accurately and compliantly to prevent incoordination. If the user’s intention is estimated accurately, a precise position control strategy will improve collaboration between the user and the exoskeleton. In this paper, a hybrid position control scheme, combining sliding mode control (SMC) with a cerebellar model articulation controller (CMAC) neural network, is proposed to control the exoskeleton to react appropriately to human motion intent. A genetic algorithm (GA) is utilized to determine the optimal sliding surface and the sliding control law to improve performance of SMC. The proposed control strategy (SMC_GA_CMAC) is compared with three other types of approaches, that is, conventional SMC without optimization, optimal SMC with GA (SMC_GA), and SMC with CMAC compensation (SMC_CMAC), all of which are employed to track the desired joint angular position which is deduced from Clinical Gait Analysis (CGA) data. Position tracking performance is investigated with cosimulation using ADAMS and MATLAB/SIMULINK in two cases, of which the first case is without disturbances while the second case is with a bounded disturbance. The cosimulation results show the effectiveness of the proposed control strategy which can be employed in similar exoskeleton systems