iLeg- A Lower Limb Rehabilitation Robot: A Proof of Concept
Zhang, Feng1; Hou, Zeng-Guang1; Cheng, Long1; Wang, Weiqun1; Chen, Yixiong1; Hu, Jin1; Peng, Liang1; Wang, Hongbo2; Zeng-Guang Hou
2016-10-01
发表期刊IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS
卷号46期号:5页码:761-768
文章类型Article
摘要In this paper, a robot, namely iLeg, is designed for the purpose of rehabilitation of patients with hemiplegia or paraplegia. The iLeg is composed of one reclining seat and two leg orthoses, and each leg orthosis has three degrees of freedom, which correspond to the hip, knee, and ankle. Based on this robotic system, two controllers, i.e., passive training controller and active training controller, are proposed. The former takes advantage of the proportional-integral control method to solve the trajectory tracking problem, and the latter employs the surface electromyography signals to achieve active training. Two simplified impedance controllers, i.e., damping-type velocity controller and spring-type position controller, are designed for active training. A perceptron neural network detects movement intentions. The performance of the controllers was investigated with one able-bodied male. The results showed that the leg orthosis tracked the predefined trajectory based on the passive training controller, with the error rates of 0.45%, 0.44%, and 0.27%, respectively, for the hip, knee, and ankle. The active training controller whose loop rate is 6.67 Hz can move the leg orthosis smoothly, and the average recognition error of the perceptron neural network is less than 5%.
关键词Active Training Electromyography (Emg) Rehabilitation Robot Spinal Cord Injury (Sci)
WOS标题词Science & Technology ; Technology
DOI10.1109/THMS.2016.2562510
关键词[WOS]IMPEDANCE CONTROL ; GAIT ; EXOSKELETON ; DEVICE ; STROKE
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61225017 ; Strategic Priority Research Program of the Chinese Academy of Sciences(XDB02080000) ; 61403378 ; 61422310 ; 61421004 ; 61533016)
WOS研究方向Computer Science
WOS类目Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS记录号WOS:000384279800013
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/12461
专题精密感知与控制研究中心_精密感知与控制
通讯作者Zeng-Guang Hou
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Yanshan Univ, Sch Mech Engn, Qinhuangdao 066004, Peoples R China
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Zhang, Feng,Hou, Zeng-Guang,Cheng, Long,et al. iLeg- A Lower Limb Rehabilitation Robot: A Proof of Concept[J]. IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS,2016,46(5):761-768.
APA Zhang, Feng.,Hou, Zeng-Guang.,Cheng, Long.,Wang, Weiqun.,Chen, Yixiong.,...&Zeng-Guang Hou.(2016).iLeg- A Lower Limb Rehabilitation Robot: A Proof of Concept.IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS,46(5),761-768.
MLA Zhang, Feng,et al."iLeg- A Lower Limb Rehabilitation Robot: A Proof of Concept".IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS 46.5(2016):761-768.
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