scholarly journals Feedback Control Design for Robust Comfortable Sit-to-Stand Motions of 3D Lower-Limb Exoskeletons

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 122-161
Author(s):  
M. Eva Mungai ◽  
Jessy W. Grizzle
Keyword(s):  
Feedback Control ◽  
Lower Limb ◽  
Control Design ◽  
Sit To Stand

Nonlinear Control Design for a Gravity Compensation Mechanism for Human Lower Limb Rehabilitation

2020 ◽  
Author(s):  
Zeki Okan Ilhan ◽  
Meng-Sang Chew
Keyword(s):  
Feedback Control ◽  
Nonlinear Control ◽  
Numerical Simulations ◽  
Dynamic Model ◽  
Lower Limb ◽  
Sliding Mode ◽  
Control Design ◽  
Nonlinear Controller ◽  
Modeling Uncertainties ◽  
Limb Injuries

Abstract Dynamics of a two degree-of-freedom suspension mechanism is incorporated into nonlinear control design to facilitate its potential use as a rehabilitation device to aid people with lower-limb injuries. The proposed mechanism is a variation of the standard four-bar linkage with an extra link and two springs. The system dynamic model is first extracted based on the Lagrange’s equations in conservative form. The performance deviations due to the link inertia is demonstrated in open-loop numerical simulations under an impulsive force scenario. Finally, the dynamic model of the suspension mechanism is incorporated into feedback control design based on nonlinear, sliding mode control strategy that can add robustness against modeling uncertainties and external disturbances. The tracking performance of the proposed nonlinear controller is validated in closed-loop numerical simulations to demonstrate possible performance improvements under feedback control.

scholarly journals Effects of lower limb resistance exercise on muscle strength, physical fitness, and metabolism in pre-frail elderly patients: a randomized controlled trial

2021 ◽  
Vol 21 (1) ◽  
Author(s):  
Xiaoxing Lai ◽  
Lin Bo ◽  
Hongwei Zhu ◽  
Baoyu Chen ◽  
Zhao Wu ◽  
...  
Keyword(s):  
Muscle Strength ◽  
Resistance Exercise ◽  
Frail Elderly ◽  
Lower Limb ◽  
Intervention Group ◽  
Control Group ◽  
Walking Test ◽  
Sit To Stand ◽  
Femoris Muscle ◽  
Activity Energy

Abstract Background Few studies examined interventions in frail elderly in China, while the awareness of applying interventions to prevent frailty in pre-frail elderly is still lacking. This study aimed to explore the effects of lower limb resistance exercise in pre-frail elderly in China. Methods This was a randomized controlled trial of patients with pre-frailty. The control group received routine care, while the exercise group received a 12-week lower limb resistance exercise based on routine care. The muscle strength in the lower limbs, physical fitness, and energy metabolism of the patients was evaluated at admission and after 12 weeks of intervention. Results A total of 60 pre-frail elderly were included in this study. The patients were divided into the exercise group (n = 30) and control group (n = 30) by random grouping. There were 17 men and 13 women aged 65.3 ± 13.4 in the exercise group, and 15 men and 15 women aged 67.6 ± 11.9 years in the control groups. The Barthel index was 80.3 ± 10.6 and 85.1 ± 11.6, respectively. The characteristics of the two groups were not significantly different before intervention (all p > 0.05). The results of repeated measurement ANOVA showed that there was statistically significant in crossover effect of group * time (all p < 0.05), that is, the differences of quadriceps femoris muscle strength, 6-min walking test, 30-s sit-to-stand test, 8-ft “up & go” test, daily activity energy expenditure and metabolic equivalent between the intervention group and the control group changed with time, and the variation ranges were different. The main effects of time were statistically significant (all p < 0.05), namely, femoris muscle strength, 6-min walking test, 30-s sit-to-stand test, 8-ft “up & go” test, daily activity energy expenditure and metabolic equivalent of the intervention group and the control group were significantly different before and after intervention. The main effects of groups were statistically significant (p < 0.05), namely, femoris muscle strength, 6-min walking test, 30-s sit-to-stand test, daily activity energy expenditure and metabolic equivalent before and after intervention were significantly different between the intervention group and the control group, while there was no significant differences in 8-ft “up & go” test between groups. Conclusion Lower limb resistance exercise used for the frailty intervention could improve muscle strength, physical fitness, and metabolism in pre-frail elderly. Trial registration ChiCTR, ChiCTR2000031099. Registered 22 March 2020, http://www.chictr.org.cn/edit.aspx?pid=51221&htm=4

Improving sit-to-stand transition by the saddle-assistive device in the spinal cord injury: A case study

2021 ◽  
pp. 095441192110033
Author(s):  
Akbar Hojjati Najafabadi ◽  
Saeid Amini ◽  
Farzam Farahmand
Keyword(s):  
Spinal Cord ◽  
Spinal Cord Injury ◽  
Lower Limb ◽  
Reaction Force ◽  
Assistive Device ◽  
Limb Weakness ◽  
Sit To Stand ◽  
Lower Limb Weakness ◽  
Wide Range ◽  
Cord Injury

Physical problems caused by fractures, aging, stroke, and accidents can reduce foot power; these, in the long term, can dwindle the muscles of the waist, thighs, and legs. These conditions provide the basis for the invalidism of the harmed people. In this study, a saddle-walker was designed and evaluated to help people suffering from spinal cord injury and patients with lower limb weakness. This S-AD works based on body weight support against the previously report designs. This saddle-walker consisted of a non-powered four-wheel walker helping to walk and a powered mechanism for the sit-to-stand (STS) transfer. A set of experiments were done on the STS in the use of the standard walker and the saddle-assistive device(S-AD). A comparison of the results showed that this device could reduce the vertical ground reaction force (GRF) of the legs up to 70%. Using this device could help a wide range of patients with lower limb weakness and SCI patients in changing from sitting to standing.

Application of Combined Feedforward and Feedback Controller With Shaped Input to Benchmark Problem

2010 ◽  
Vol 132 (2) ◽  
Author(s):  
Young Joo Shin ◽  
Peter H. Meckl
Keyword(s):  
Feedback Control ◽  
Control Strategy ◽  
Control Strategies ◽  
Control Design ◽  
Single Frequency ◽  
Benchmark Problems ◽  
Control Force ◽  
Benchmark Problem ◽  
Advantages And Disadvantages ◽  
Robust Control Design

Benchmark problems have been used to evaluate the performance of a variety of robust control design methodologies by many control engineers over the past 2 decades. A benchmark is a simple but meaningful problem to highlight the advantages and disadvantages of different control strategies. This paper verifies the performance of a new control strategy, which is called combined feedforward and feedback control with shaped input (CFFS), through a benchmark problem applied to a two-mass-spring system. CFFS, which consists of feedback and feedforward controllers and shaped input, can achieve high performance with a simple controller design. This control strategy has several unique characteristics. First, the shaped input is designed to extract energy from the flexible modes, which means that a simpler feedback control design based on a rigid-body model can be used. In addition, only a single frequency must be attenuated to reduce residual vibration of both masses. Second, only the dynamics between control force and the first mass need to be considered in designing both feedback and feedforward controllers. The proposed control strategy is applied to a benchmark problem and its performance is compared with that obtained using two alternative control strategies.

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