Computer Science ›› 2016, Vol. 43 ›› Issue (3): 246-251.doi: 10.11896/j.issn.1002-137X.2016.03.045

Previous Articles     Next Articles

Design of Lower Limb Rehabilitation Exoskeleton Suit Based on Event Detection

ZHANG Xiang-gang, SHI Yu-liang, ZHANG Yi and WANG Hui-qin   

  • Online:2018-12-01 Published:2018-12-01

Abstract: Lower limbs rehabilitation exoskeleton can assist or replace the doctor to complete rehabilitation training of lower limbs,and can help the patients recover self-reliance,and then reintegrate into society.A kind of lower limb rehabilitation exoskeleton suit based on event detection was designed in the paper.The so-called events refer to the information sequence detected by the man-machine interface.The movement intention detection based on events has two main purposes.One is to detect the wearer’s movement intention in a transparent way.The other is to improve the accuracy of motion intention detection.In the paper,the lower extremity exoskeleton suit includes a bionic mechanical structure,a man-machine interface,a controller,a driving subsystem based on motor and a power subsystem.The bionic structure is used to support the weight of the exoskeleton and the wearer’s body.A disk type motor is used to drive the knee joints and hip joints.Many sensors and a body sensor network are designed in the man-machine interface,and motion perception technology based on event is used to detect patient’s movement state and movement intention.The controller adopts the position closed loop control.Simulation results show the feasibility and the practical effect of the system.

Key words: Exoskeleton,Rehabilitation,Event

[1] Koenig A,Novak D,Omlin X,et al.Real-Time Closed-LoopControl of Cognitive Load in Neurological Patients During Robot-Assisted Gait Training[J].IEEE Transactions on Neural Systems and Rehabilitation Engineering,2011,19(4):453-464
[2] Duschau-Wicke A,von Zitzewitz J,Caprez A,et al.Path Control:A Method for Patient-Cooperative Robot-Aided Gait Rehabilitation[J].IEEE Transactions on Neural Systems and Rehabilitation Engineering,2010,18(1):38-48
[3] Akdog E,Adli M.The design and control of a therapeutic exercise robot for lower limb rehabilitation[C]∥Physiotherabot.Mechatronics 21,2011:509-522
[4] Riener R,Lunenburger L,Jezernik S,et al.Patient-cooperativestrategies for robot-aided treadmill training:first experimental results[J].IEEE Transactions on Neural Systems and Rehabilitation Engineering,2005,13(3):380-394
[5] Yang Da-peng,Jiang Li,Zhao Jing-dong,et al.High intelligent prosthetic hand control based on EEG signal[J].Journal of Jilin University(Engineering and Technology Edition),2008,38(5):1225-1230(in Chinese) 杨大鹏,姜力,赵京东,等.基于脑电信号的高智能假手控制[J].吉林大学学报(工学版),2008,38(5):1225-1230
[6] Okamura J,Tanaka H,Sankai Y.EMG-based Prototype Po-wered Assistive system for Walking Aid [C]∥Proceedings of Asian Symposium on Industrial Automation and Robotics(ASIAR99).Bangkok,Thailand,1999:229-234
[7] Racine,Louis Charles J.Control of a Lower Extremity Exoske-leton for Human Performance Amplification [D].University of California,Berkeley,2003
[8] Yano H,Kaneko S,Nakazawa K,et al.A New Concept of Dynamic Orthosis for Paraplegia:the Weight Bearing Control (WBC) Orthosis [J].Prosthetics and Orthotics International,1997,1(3):222-228
[9] Neuhaus P,Kazerooni H.Design and control of Human Assisted Walking Robot[C]∥Proceeding of 2000 IEEE International Conference on Robotics & Automation.San Francisco,2000:563-569
[10] Kazerooni H,Steger R.The Berkeley Lower Extremity Exoske-leton [J].Journal of Dynamic Systems,Measurement,and Control,2005,128(3):14-25
[11] http://www.hocoma.com/products/lokomat/
[12] Homoca.LokomatPro Brochure.http://www.hocoma.com/fileadmin/user/Dokumente/Lokomat/bro_L6_120416_en_A4.pdf
[13] Esquenazi A,Talaty M,Packel A,et al.The ReWalk poweredexoskeleton to restore ambulatory function to individuals with thoracic-level motor-complete spinal cord injury[J].American Journal of Physical Medicine & Rehabilitation,2012,91(11):911-921
[14] http://www.medgadget.com/2008/03/rewalk_exoskeleton.html
[15] Bogue R.Exoskeletons and robotic prosthetics:a review of recent developments[J].Industrial Robot:An International Journal,2009,36(5):421-427
[16] Kong K,Jeon D.Fuzzy control of a new tendon-driven exoskeletal power assistive device[C]∥Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2005).2005:146-151
[17] Agrawal S K,Banala S K,Fattah A.A Gravity Balancing Passive Exoskeleton for the Human Leg.http://www.robo-ticsproceedings.org/rss02/p24.pdf
[18] Bin Niu.Study on the design and Control of a Wearable Exo-skeleton Leg for Huaman’s Walking Power Augmentation[D].Hangzhou: Zhejiang University,2006
[19] Fei Ye-yun.Design and Study of Lower Artificial Limb Exoske-leton Based on the Control of EMG for Rehabilitation Physic[D].Hangzhou: Zhejiang University,2006
[20] Zhang Jie.Study on the exoskeleton Leg for training paraplegic patients[D].Hangzhou:Zhejiang University,2007
[21] Zhang Yu.Development and Research of Ankle-foot Rehabilitation Exoskeleton Orthosis[D].Hangzhou:Zhejiang University,2010
[22] Pan Hui-ju.A new method to study the relationship betweenmechanical behavior of human motion device system and sports injury[J].Journal of Zhejiang Normal University(Natural Scie-nce Edition),1995,18(4):4-7(in Chinese) 潘慧炬.人体运动器系力学行为与运动损伤关系研究的新方法[J].浙江师范大学学报(自然科学版),1995,18(4):4-7

No related articles found!
Viewed
Full text


Abstract

Cited

  Shared   
  Discussed   
No Suggested Reading articles found!