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

doi:10.1109/THMS.2016.2562510

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	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
刊名	IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS
	2016-10-01
卷号	46 期号:5 页码:761-768
关键词	Active Training Electromyography (Emg) Rehabilitation Robot Spinal Cord Injury (Sci)
DOI	10.1109/THMS.2016.2562510
文献子类	Article
英文摘要	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%.
WOS关键词	IMPEDANCE CONTROL ; GAIT ; EXOSKELETON ; DEVICE ; STROKE
WOS研究方向	Computer Science
语种	英语
WOS记录号	WOS:000384279800013
资助机构	National Natural Science Foundation of China(61225017 ; Strategic Priority Research Program of the Chinese Academy of Sciences(XDB02080000) ; 61403378 ; 61422310 ; 61421004 ; 61533016)
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/12461]
专题	精密感知与控制研究中心_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
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.