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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
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.
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.
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