A Lower Limb Rehabilitation Assistance Training Robot System Driven by an Innovative Pneumatic Artificial Muscle
Tsung-Chin Tsai1, Mao-Hsiung Chiang1
1Department of Engineering Science and Ocean Engineering, National Taiwan University, Taipei, Taiwan.
Soft Robotics
|February 23, 2022
Summary
This study introduces a novel single pneumatic artificial muscle (PAM) with a torsion spring for a 2-DOF lower limb robot, enhancing rehabilitation training. An adaptive controller ensures precise joint control and adaptability for improved system performance.
Area of Science:
- Robotics
- Biomedical Engineering
- Control Systems
Background:
- Pneumatic artificial muscles (PAMs) offer potential for rehabilitation robots but face control challenges.
- Previous dual-PAM designs are complex for multi-axial systems.
- Single PAMs with torsion springs present a novel approach for simpler, multi-axial designs.
Purpose of the Study:
- To develop a 2-DOF lower limb robot for rehabilitation assistance using single PAMs and torsion springs.
- To address the control nonlinearity challenges associated with single PAMs in a bionic lower limb system.
- To achieve precise joint angle positioning and gait planning control for rehabilitation applications.
Main Methods:
- Kinematic analysis to ensure human-like lower limb motion patterns.
- Integration of single PAMs with torsion springs to simulate joint extension/flexion.
- Development and application of an adaptive self-organizing fuzzy sliding mode controller (ASOFSMC) for joint control.
Main Results:
- The proposed system successfully simulates human-like 2-DOF lower limb motion.
- ASOFSMC demonstrated effective control accuracy for joint positioning and gait planning.
- The controller adapted online to environmental and load changes, improving system performance.
Conclusions:
- The novel combination of single PAM, torsion spring, and ASOFSMC is effective for a 2-DOF rehabilitation robot.
- This approach offers a viable solution for multi-axial robotic design with improved control.
- The system shows promise for enhancing lower limb rehabilitation training.
