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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
AbstractIn 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%.
KeywordActive Training Electromyography (Emg) Rehabilitation Robot Spinal Cord Injury (Sci)
WOS HeadingsScience & Technology ; Technology
Indexed BySCI
Funding OrganizationNational Natural Science Foundation of China(61225017 ; Strategic Priority Research Program of the Chinese Academy of Sciences(XDB02080000) ; 61403378 ; 61422310 ; 61421004 ; 61533016)
WOS Research AreaComputer Science
WOS SubjectComputer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS IDWOS:000384279800013
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Document Type期刊论文
Corresponding AuthorZeng-Guang Hou
Affiliation1.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
Recommended Citation
GB/T 7714
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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