iLeg- A Lower Limb Rehabilitation Robot: A Proof of Concept

doi:10.1109/THMS.2016.2562510

CASIA OpenIR > 中科院工业视觉智能装备工程实验室 > 精密感知与控制

	iLeg- A Lower Limb Rehabilitation Robot: A Proof of Concept
	Zhang, Feng1 ; Hou, Zeng-Guang1 ; Cheng, Long1 ; Wang, Weiqun1 ; Chen, Yixiong 1; Hu, Jin 1; Peng, Liang1 ; Wang, Hongbo 2; Zeng-Guang Hou
发表期刊	IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS
	2016-10-01
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
DOI	10.1109/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	被引频次：49[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/12461
专题	中科院工业视觉智能装备工程实验室_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
第一作者单位	中国科学院自动化研究所
推荐引用方式 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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