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Related Experiment Video

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Development of an individualized stable and force-reducing lower-limb exoskeleton.

Guo-Shing Huang1, Meng-Hua Yen1, Chia-Chun Chang1

  • 1Department of Electronic Engineering, National Chin-Yi University of Technology, Taichung, Taiwan.

Biomedical Physics & Engineering Express
|August 30, 2024
PubMed
Summary

This study developed a lower-limb exoskeleton robot that uses a CNN-LSTM model to enhance walking stability. The system reduces user effort by 40%, aiding individuals with mobility impairments.

Keywords:
force-reducingindividualizedlower-limb exoskeletonstable

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Area of Science:

  • Robotics
  • Biomechanics
  • Artificial Intelligence

Background:

  • Developing assistive devices for stable walking is crucial for individuals with lower-limb weakness.
  • Existing lower-limb exoskeletons often require complex control strategies.
  • Passive-control exoskeletons offer a simpler approach but need effective stability enhancement.

Purpose of the Study:

  • To develop an individualized and stable passive-control lower-limb exoskeleton robot.
  • To utilize a deep learning model for real-time adjustment of exoskeleton control parameters.
  • To enhance user walking stability and reduce muscular effort.

Main Methods:

  • An individualized passive-control lower-limb exoskeleton was developed.
  • User joint angles and sole center of pressure (CoP) were inputs to a convolutional neural network (CNN)-long short-term memory (LSTM) model.
  • The CNN-LSTM model predicted control scheme fitness, adjusting exoskeleton parameters to improve stability.

Main Results:

  • The developed exoskeleton demonstrated similar sole CoP trends during normal and passive walking, with a 91% correlation in y-coordinates.
  • Electromyography signals showed a 40% reduction in rectus femoris muscle force with the stable exoskeleton system.
  • The system successfully enhanced walking stability and reduced the force exerted by users.

Conclusions:

  • The developed lower-limb exoskeleton effectively assists users in achieving balanced and stable walking.
  • The system significantly reduces the physical effort required for walking.
  • This technology holds promise for aiding patients with stroke and lower-limb weakness in achieving stable ambulation.