Design and implementation of a robotic hip exoskeleton for gait rehabilitation

Shi Heng Hsu, Chuan Changcheng, Heng Ju Lee, Chun Ta Chen*

*此作品的通信作者

研究成果: 雜誌貢獻期刊論文同行評審

1 引文 斯高帕斯(Scopus)

摘要

In this paper, a four degrees-of-freedom robotic hip exoskeleton was proposed for gait rehabilitation. The robotic hip exoskeleton was designed with active flexion/extension and passive abduction/adduction at each hip joint to comply with the movement of the thigh. Due to each us-er’s different lower limbs characteristics and unknown torques at hip joints, model-free linear ex-tended state observer (LESO)-based controllers were proposed for rehabilitation gait control. The prototypes of the robotic hip exoskeleton and controller designs were validated and compared through walking and ascending rehabilitation experiments. Additionally, a motion captured system and EMG signals were used to investigate the walking assistance of the robotic hip exoskele-ton.

原文英語
文章編號212
期刊Actuators
10
發行號9
DOIs
出版狀態已發佈 - 2021 九月

ASJC Scopus subject areas

  • 控制與系統工程
  • 控制和優化

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