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Synergetic gait prediction and compliant control of SEA-driven knee exoskeleton for gait rehabilitation

  • 0The School of Information Engineering, Wuhan University of Technology, Wuhan, China.
Frontiers in Bioengineering and Biotechnology +

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February 12, 2024

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February 12, 2024

View abstract on PubMed

Summary

This summary is machine-generated.

This study introduces a novel knee exoskeleton using series elastic actuators (SEA) for stroke rehabilitation. It features an AI model for personalized gait prediction and a compliant control system to ensure safe, adaptive patient training.

Area Of Science

  • Robotics
  • Biomedical Engineering
  • Rehabilitation Science

Background

  • Lower limb exoskeletons show promise in stroke rehabilitation.
  • Personalized trajectory generation and secondary injury prevention are critical challenges.

Purpose Of The Study

  • To design a novel SEA-driven knee exoskeleton.
  • To develop an attention-based CNN-LSTM model for personalized gait trajectory prediction.
  • To implement a compliant control strategy for safe and adaptive rehabilitation.

Main Methods

  • Design of a novel knee exoskeleton utilizing Series Elastic Actuators (SEA).
  • Development of an attention-based Convolutional Neural Network-Long Short-Term Memory (CNN-LSTM) model for spatial-temporal gait trajectory prediction.
  • Implementation of a compliant control strategy using the Artificial Potential Field (APF) method for adaptive impedance control.

Main Results

  • The synergetic gait prediction model accurately characterized coordinated movements.
  • The compliant control strategy effectively limited patient movement within a safe coordination space.
  • The system demonstrated personalization and flexibility in active rehabilitation training.

Conclusions

  • The proposed SEA-driven knee exoskeleton with advanced AI-based prediction and control offers a safe and personalized approach to stroke rehabilitation.
  • This technology has the potential to enhance clinical outcomes by providing adaptive and individualized training.
  • Further research can explore clinical validation in stroke patients.

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