Abstract:
Intervention of robotic devices in the field of physical gait therapy can help in providing repetitive, systematic, and economically viable training sessions. Interactive...Show MoreMetadata
Abstract:
Intervention of robotic devices in the field of physical gait therapy can help in providing repetitive, systematic, and economically viable training sessions. Interactive or assist-as-needed (AAN) gait training encourages patient voluntary participation in the robotic gait training process which may aid in rapid motor function recovery. In this paper, a lightweight robotic gait training orthosis with two actuated and four passive degrees of freedom (DOFs) is proposed. The actuated DOFs were powered by pneumatic muscle actuators. An AAN gait training paradigm based on adaptive impedance control was developed to provide interactive robotic gait training. The proposed adaptive impedance control scheme adapts the robotic assistance according to the disability level and voluntary participation of human subjects. The robotic orthosis was operated in two gait training modes, namely, inactive mode and active mode, to evaluate the performance of the proposed control scheme. The adaptive impedance control scheme was evaluated on ten neurologically intact subjects. The experimental results demonstrate that an increase in voluntary participation of human subjects resulted in a decrease of the robotic assistance and vice versa. Further clinical evaluations with neurologically impaired subjects are required to establish the therapeutic efficacy of the adaptive-impedance-control-based AAN gait training strategy.
Published in: IEEE Transactions on Cybernetics ( Volume: 43, Issue: 3, June 2013)
Department of Mechanical Engineering, University of Auckland, Auckland, New Zealand
Shahid Hussain received the B.Sc. degree (with honors) in mechatronics and control engineering from the University of Engineering and Technology Lahore, Lahore, Pakistan, in 2007 and the M.E. degree in mechanical engineering from The University of Auckland, Auckland, New Zealand, in 2009, where he is currently working toward the Ph.D. degree in the Department of Mechanical Engineering.
He is acting as a Reviewer for many i...Show More
Shahid Hussain received the B.Sc. degree (with honors) in mechatronics and control engineering from the University of Engineering and Technology Lahore, Lahore, Pakistan, in 2007 and the M.E. degree in mechanical engineering from The University of Auckland, Auckland, New Zealand, in 2009, where he is currently working toward the Ph.D. degree in the Department of Mechanical Engineering.
He is acting as a Reviewer for many i...View more
Department of Mechanical Engineering, University of Auckland, Auckland, New Zealand
Sheng Q. Xie (SM'11) received the M.Sc. degree and the Ph.D. degree in mechatronics from Huazhong University of Science and Technology, Wuhan, China, in 1995 and 1998, respectively, and the Ph.D. degree in manufacturing automation from the University of Canterbury, Canterbury, New Zealand, in 2002.
He was a Research Associate and a Postdoctoral Fellow with the University of Canterbury. In 2003, he joined The University of ...Show More
Sheng Q. Xie (SM'11) received the M.Sc. degree and the Ph.D. degree in mechatronics from Huazhong University of Science and Technology, Wuhan, China, in 1995 and 1998, respectively, and the Ph.D. degree in manufacturing automation from the University of Canterbury, Canterbury, New Zealand, in 2002.
He was a Research Associate and a Postdoctoral Fellow with the University of Canterbury. In 2003, he joined The University of ...View more
Department of Mechanical Engineering, University of Auckland, Auckland, New Zealand
Prashant K. Jamwal received the M.Tech. degree from the Indian Institute of Technology, Roorkee, India, and the Ph.D. degree from The University of Auckland, Auckland, New Zealand.
He is currently a research fellow with the department of Mechanical Engineering, The University of Auckland, Auckland, New Zealand. He has more than 15 years of teaching and research experience in mechatronics, medical robotics, and advanced man...Show More
Prashant K. Jamwal received the M.Tech. degree from the Indian Institute of Technology, Roorkee, India, and the Ph.D. degree from The University of Auckland, Auckland, New Zealand.
He is currently a research fellow with the department of Mechanical Engineering, The University of Auckland, Auckland, New Zealand. He has more than 15 years of teaching and research experience in mechatronics, medical robotics, and advanced man...View more
Contents Department of Mechanical Engineering, University of Auckland, Auckland, New Zealand
Shahid Hussain received the B.Sc. degree (with honors) in mechatronics and control engineering from the University of Engineering and Technology Lahore, Lahore, Pakistan, in 2007 and the M.E. degree in mechanical engineering from The University of Auckland, Auckland, New Zealand, in 2009, where he is currently working toward the Ph.D. degree in the Department of Mechanical Engineering.
He is acting as a Reviewer for many international journals and conferences. His research interests include compliant actuation of rehabilitation robots, robot-assisted gait rehabilitation, human–robot interaction, and nonlinear control of dynamic systems.
Shahid Hussain received the B.Sc. degree (with honors) in mechatronics and control engineering from the University of Engineering and Technology Lahore, Lahore, Pakistan, in 2007 and the M.E. degree in mechanical engineering from The University of Auckland, Auckland, New Zealand, in 2009, where he is currently working toward the Ph.D. degree in the Department of Mechanical Engineering.
He is acting as a Reviewer for many international journals and conferences. His research interests include compliant actuation of rehabilitation robots, robot-assisted gait rehabilitation, human–robot interaction, and nonlinear control of dynamic systems.View more
Department of Mechanical Engineering, University of Auckland, Auckland, New Zealand
Sheng Q. Xie (SM'11) received the M.Sc. degree and the Ph.D. degree in mechatronics from Huazhong University of Science and Technology, Wuhan, China, in 1995 and 1998, respectively, and the Ph.D. degree in manufacturing automation from the University of Canterbury, Canterbury, New Zealand, in 2002.
He was a Research Associate and a Postdoctoral Fellow with the University of Canterbury. In 2003, he joined The University of Auckland, Auckland, New Zealand, where he is currently a Chair Professor in the area of (bio)mechatronics. He is the Editor for the International Journal of Biomechatronics and Biomedical Robotics and an Associate Editor for the International Journal of Advanced Mechatronic Systems and the International Journal of Mechatronics and Intelligent Manufacturing. He sits on the editorial board of a number of international journals such as the International Journal of Mechatronics and Manufacturing Systems and has served as a Reviewer/Referee for over 20 international journals, which include the International Journal of Computers in Industry, the International Journal of Control and Intelligent Systems, and the International Journal of Production Research. He has published 2 books, 15 book chapters, and over 200 international journal and conference papers. His current research interests are smart sensors and actuators, medical and rehabilitation robots, microelectromechanical systems, modern control technologies and applications, and rapid product development technologies, methods, and tools.
Prof. Xie is a member of international program committee for many international conferences. He has served as a Reviewer/Referee for IEEE Transactions on Industrial Electronics.
Sheng Q. Xie (SM'11) received the M.Sc. degree and the Ph.D. degree in mechatronics from Huazhong University of Science and Technology, Wuhan, China, in 1995 and 1998, respectively, and the Ph.D. degree in manufacturing automation from the University of Canterbury, Canterbury, New Zealand, in 2002.
He was a Research Associate and a Postdoctoral Fellow with the University of Canterbury. In 2003, he joined The University of Auckland, Auckland, New Zealand, where he is currently a Chair Professor in the area of (bio)mechatronics. He is the Editor for the International Journal of Biomechatronics and Biomedical Robotics and an Associate Editor for the International Journal of Advanced Mechatronic Systems and the International Journal of Mechatronics and Intelligent Manufacturing. He sits on the editorial board of a number of international journals such as the International Journal of Mechatronics and Manufacturing Systems and has served as a Reviewer/Referee for over 20 international journals, which include the International Journal of Computers in Industry, the International Journal of Control and Intelligent Systems, and the International Journal of Production Research. He has published 2 books, 15 book chapters, and over 200 international journal and conference papers. His current research interests are smart sensors and actuators, medical and rehabilitation robots, microelectromechanical systems, modern control technologies and applications, and rapid product development technologies, methods, and tools.
Prof. Xie is a member of international program committee for many international conferences. He has served as a Reviewer/Referee for IEEE Transactions on Industrial Electronics.View more
Department of Mechanical Engineering, University of Auckland, Auckland, New Zealand
Prashant K. Jamwal received the M.Tech. degree from the Indian Institute of Technology, Roorkee, India, and the Ph.D. degree from The University of Auckland, Auckland, New Zealand.
He is currently a research fellow with the department of Mechanical Engineering, The University of Auckland, Auckland, New Zealand. He has more than 15 years of teaching and research experience in mechatronics, medical robotics, and advanced manufacturing technologies. He is an Associate Editor of the International Journal of Biomechatronics and Robotics and is acting as a Reviewer for many international journals and conferences. He has also published numerous papers in refereed international journals and conferences. His research interests include artificial intelligence, fuzzy mathematics and applications, smart sensors and actuators, biomechatronics, biomedical robotics, evolutionary algorithms, and multiobjective optimization.
Prashant K. Jamwal received the M.Tech. degree from the Indian Institute of Technology, Roorkee, India, and the Ph.D. degree from The University of Auckland, Auckland, New Zealand.
He is currently a research fellow with the department of Mechanical Engineering, The University of Auckland, Auckland, New Zealand. He has more than 15 years of teaching and research experience in mechatronics, medical robotics, and advanced manufacturing technologies. He is an Associate Editor of the International Journal of Biomechatronics and Robotics and is acting as a Reviewer for many international journals and conferences. He has also published numerous papers in refereed international journals and conferences. His research interests include artificial intelligence, fuzzy mathematics and applications, smart sensors and actuators, biomechatronics, biomedical robotics, evolutionary algorithms, and multiobjective optimization.View more
