A robotic exoskeleton system of lower extremity controlled by central pattern generators (CPGs) was developed for physical rehabilitation of paraplegic patients. The exoskeleton system has two degrees of freedom for each limb to assist motion of hip and knee joints with help of a body weight support device. Mechanical design of the exoskeleton considering ergonomics adopted some regulation mechanisms for a more comfortable human-machine interaction. The CPG network was designed as the controller, and provided natural gait patterns for users wearing the exoskeleton. Relevant parameters of CPG were off-line tuned using the Genetic Algorithm (GA). For evaluating this rehabilitation platform, three healthy subjects participated in a preliminary experiment and the results showed good performance of the exoskeleton system.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A robotic exoskeleton for lower limb rehabilitation controlled by central pattern generator


    Contributors:
    Fang, Jianxin (author) / Ren, Yong (author) / Zhang, Dingguo (author)


    Publication date :

    2014-12-01


    Size :

    683521 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Development of a Exoskeleton for Lower Limb Rehabilitation

    Bortole, M. / Pons, J. L. | Springer Verlag | 2013



    Lower Limb Exoskeleton for Rehabilitation with Improved Postural Equilibrium

    Menga, Giuseppe / Ghirardi, Marco | BASE | 2018

    Free access

    An adaptable human-like gait pattern generator derived from a lower limb exoskeleton

    Mendoza-Crespo, R. / Torricelli, Diego / Huegel, J.C. et al. | BASE | 2019

    Free access

    Feedback Linearization Control of Lower Limb Exoskeleton Robot for Rehabilitation

    Arsalan Muhammad / Rehaman Saad ur / Umair Muhammad et al. | DOAJ | 2023

    Free access