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Toward Gait Symmetry Enhancement via a Cable-Driven Exoskeleton Powered by Series Elastic Actuators
- Source :
- IEEE Robotics and Automation Letters. 7:786-793
- Publication Year :
- 2022
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2022.
-
Abstract
- Gait rehabilitation is essential for chronic stroke patients to regain independent walking ability and quality of life, of which symmetry is regarded as a gold standard of gait quality. In this letter, a cable-driven lower limb exoskeleton powered by series elastic actuators (SEAs) has been developed, and a generalized gait-phase-based assistive strategy has been presented aiming to enhance the gait symmetry of chronic stroke patients. This strategy features a parameterized assistive force generation method that allows individuals customization to achieve more synchronized assistance with their walking gait patterns. A compliant human-robot interaction is guaranteed by SEA, and the exoskeleton exhibits low passive impedance and good transparency. The proposed assistive strategy was evaluated with five able-bodied subjects walked with the assistance from exoskeleton while adding artificial impairments to mimic a pathological gait with deficits (i.e., reduced knee flexion and foot-drop). Experimental results proved its efficacy in enhancing temporal walking gait symmetry to levels comparable to participants normal gait.
- Subjects :
- medicine.medical_specialty
Control and Optimization
Rehabilitation
Computer science
Mechanical Engineering
medicine.medical_treatment
Biomedical Engineering
Symmetry (physics)
Computer Science Applications
Exoskeleton
Human-Computer Interaction
Physical medicine and rehabilitation
Gait (human)
Artificial Intelligence
Control and Systems Engineering
medicine
Cable driven
Computer Vision and Pattern Recognition
Actuator
human activities
Chronic stroke
Walking gait
Subjects
Details
- ISSN :
- 23773774
- Volume :
- 7
- Database :
- OpenAIRE
- Journal :
- IEEE Robotics and Automation Letters
- Accession number :
- edsair.doi...........9341b7ca27bd1e9864894e90d5173f44