A robotic exoskeleton for lower limb rehabilitation controlled by central pattern generator
ROBIO（2014）
摘要
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.
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关键词
medical robotics,knee joint motion,motion control,human computer interaction,rehabilitation platform,cpg network,control system synthesis,control engineering computing,human-machine interaction,prosthetics,paraplegic patient,physical rehabilitation,lower extremity,robotic exoskeleton system,body weight support device,patient rehabilitation,controller design,genetic algorithm,gait analysis,gait pattern,ergonomics,genetic algorithms,regulation mechanism,mechanical design,lower limb rehabilitation,hip joint motion,central pattern generator,oscillators,exoskeletons,robots
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