An exoskeleton for gait rehabilitation: Prototype design and control principle

被引：40

作者：

Beyl, P. ^{[1
]}

Van Damme, M. ^{[1
]}

Van Ham, R. ^{[1
]}

Versluys, R. ^{[1
]}

Vanderborght, B. ^{[1
]}

Lefeber, D. ^{[1
]}

机构：

[1] Vrije Univ Brussel, Dept Mech Engn, Robot & Multibody Mech Res Grp, B-1050 Brussels, Belgium

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年

关键词：

D O I：

10.1109/ROBOT.2008.4543506

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Research in robotic gait rehabilitation still faces many challenges regarding ankle assistance, body weight support and human-robot interaction. This paper reports on the development, focusing on these challenges, of a gait rehabilitation exoskeleton powered by pleated pneumatic artificial muscles. The first prototype is intended as a platform for the evaluation of design and control concepts. The mechanical design procedure is explained with the emphasis on optimization. A proxy-based sliding mode control approach is proposed and evaluated by means of simulation. Simulation results indicate good tracking performance and safe system behavior, encouraging experimental validation on the prototype.

引用

页码：2037 / 2042

页数：6