Design of fuzzy adaptive synovial control system for lower limb exoskeleton

2021 ◽  
Author(s):  
Jinming Liu ◽  
Mei Liu ◽  
Peisi Zhong ◽  
Chao Zhang ◽  
Xingchen Zhu
Keyword(s):  
Control System ◽  
Lower Limb ◽  
Lower Limb Exoskeleton ◽  
Fuzzy Adaptive

scholarly journals Impact of Load Variation on the Accuracy of Gait Recognition from Surface EMG Signals

2018 ◽  
Vol 8 (9) ◽  
pp. 1462 ◽  
Author(s):  
Xianfu Zhang ◽  
Shouqian Sun ◽  
Chao Li ◽  
Zhichuan Tang
Keyword(s):  
Control System ◽  
Lower Limb ◽  
Gait Recognition ◽  
Training Data ◽  
Support Vector ◽  
K Nearest Neighbor ◽  
Real Time Control ◽  
Lower Limb Exoskeleton ◽  
Load Variation ◽  
Significant Difference

As lower-limb exoskeleton and prostheses are developed to become smarter and to deploy man–machine collaboration, accurate gait recognition is crucial, as it contributes to the realization of real-time control. Many researchers choose surface electromyogram (sEMG) signals to recognize the gait and control the lower-limb exoskeleton (or prostheses). However, several factors still affect its applicability, of which variation in the loads is an essential one. This study aims to (1) investigate the effect of load variation on gait recognition; and to (2) discuss whether a lower-limb exoskeleton control system trained by sEMG from different loads works well in multi-load applications. In our experiment, 10 male college students were selected to walk on a treadmill at three different speeds (V3 = 3 km/h, V5 = 5 km/h, and V7 = 7 km/h) with four different loads (L0 = 0, L20 = 20%, L30 = 30%, L40 = 40% of body weight, respectively), and 50 gait cycles were performed. Back propagation neural networks (BPNNs) were used for gait recognition, and a support vector machine (SVM) and k-nearest neighbor (k-NN) were used for comparison. The result showed that (1) load variation has significant effects on the accuracy of gait recognition (p < 0.05) under the three speeds when the loads range in L0, L20, L30, or L40, but no significant impact is found when the loads range in L0, L20, or L30. The least significant difference (LSD) post hoc, which can explore all possible pair-wise comparisons of means that comprise a factor using the equivalent of multiple t-tests, reveals that there is a significant difference between the L40 load and the other three loads (L0, L20, L30), but no significant difference was found among the L0, L20, and L30 loads. The total mean accuracy of gait recognition of the intra-loads and inter-loads was 91.81%, and 69.42%, respectively. (2) When the training data was taken from more types of loads, a higher accuracy in gait recognition was obtained at each speed, and the statistical analysis shows that there was a substantial influence for the kinds of loads in the training set on the gait recognition accuracy (p < 0.001). It can be concluded that an exoskeleton (or prosthesis) control system that is trained in a single load or the parts of loads is insufficient in the face of multi-load applications.

scholarly journals Development of human lower limbs exoskeleton robot for medical rehabilitation

2021 ◽  
pp. 91-97
Author(s):  
E. A. Kotov ◽  
◽  
A. D. Druk ◽  
D. N. Klypin ◽  
◽  
...  
Keyword(s):  
Control System ◽  
Experimental Research ◽  
Lower Limb ◽  
Lower Limbs ◽  
Medical Rehabilitation ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Controlled Motion ◽  
And Control

The article deals with the solution of the problem of optimizing the characteristics of controlled motion of human lower limb exoskeleton robot for improving medical rehabilitation. The aim of the work is to develop a rehabilitation device capable of providing controlled motion in two planes, as well as maintaining balance without loss of mobility. The design and control system of a rehabilitation trainer designed for performing mechanotherapy of the lower limbs of patients with locomotive disorders are proposed and characterized. The developed system has a number of significant differences from analogues and can be recommended for experimental research on patients with impaired locomotive functions

scholarly journals Real-Time EEG–EMG Human–Machine Interface-Based Control System for a Lower-Limb Exoskeleton

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 84070-84081 ◽  
Author(s):  
Susanna Yu. Gordleeva ◽  
Sergey A. Lobov ◽  
Nikita A. Grigorev ◽  
Andrey O. Savosenkov ◽  
Maxim O. Shamshin ◽  
...  
Keyword(s):  
Control System ◽  
Real Time ◽  
Lower Limb ◽  
Human Machine Interface ◽  
Lower Limb Exoskeleton ◽  
Machine Interface

scholarly journals Overview: Types of Lower Limb Exoskeletons

Electronics ◽  
2019 ◽  
Vol 8 (11) ◽  
pp. 1283 ◽  
Author(s):  
Daniel S Pamungkas ◽  
Wahyu Caesarendra ◽  
Hendawan Soebakti ◽  
Riska Analia ◽  
Susanto Susanto
Keyword(s):  
Control System ◽  
Lower Limb ◽  
Work Activities ◽  
Lower Limb Exoskeleton ◽  
The Future ◽  
Review Study

Researchers have given attention to lower limb exoskeletons in recent years. Lower limb exoskeletons have been designed, prototype tested through experiments, and even produced. In general, lower limb exoskeletons have two different objectives: (1) rehabilitation and (2) assisting human work activities. Referring to these objectives, researchers have iteratively improved lower limb exoskeleton designs, especially in the location of actuators. Some of these devices use actuators, particularly on hips, ankles or knees of the users. Additionally, other devices employ a combination of actuators on multiple joints. In order to provide information about which actuator location is more suitable; a review study on the design of actuator locations is presented in this paper. The location of actuators is an important factor because it is related to the analysis of the design and the control system. This factor affects the entire lower limb exoskeleton’s performance and functionality. In addition, the disadvantages of several types of lower limb exoskeletons in terms of actuator locations and the challenges of the lower limb exoskeleton in the future are also presented in this paper.

Hybrid Position/Force Control System for Human Lower-Limb Exoskeleton

2012 ◽  
Vol 8 (1) ◽  
pp. 427-432
Author(s):  
Zhi-Yong Tang ◽  
Zhen-Zhong Tan ◽  
Ming-Yi Yang ◽  
Zhong-Cai Pei
Keyword(s):  
Control System ◽  
Force Control ◽  
Lower Limb ◽  
Lower Limb Exoskeleton ◽  
Force Control System

Six-axis lower-limb exoskeleton control system based on Neural Networks

2018 ◽  
Author(s):  
Eduardo Alcivar-Molina ◽  
Jorge Hurel ◽  
Efrain Teran ◽  
Geancarlos Zamora-Olea ◽  
Ronald Ponguillo ◽  
...  
Keyword(s):  
Neural Networks ◽  
Control System ◽  
Lower Limb ◽  
Lower Limb Exoskeleton
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