Design, Manufacturing, and Control of a Pneumatic-Driven Passive Robotic Gait Training System for Muscle-Weakness in a Lower Limb
We designed and manufactured a pneumatic-driven robotic passive gait training system (PRPGTS), providing the functions of body-weight support, postural support, and gait orthosis for patients who suffer from weakened lower limbs. The PRPGTS was designed as a soft-joint gait training rehabilitation s...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-10-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/21/20/6709 |
| _version_ | 1797513190998802432 |
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| author | I-Hsum Li Yi-Shan Lin Lian-Wang Lee Wei-Ting Lin |
| author_facet | I-Hsum Li Yi-Shan Lin Lian-Wang Lee Wei-Ting Lin |
| author_sort | I-Hsum Li |
| collection | DOAJ |
| description | We designed and manufactured a pneumatic-driven robotic passive gait training system (PRPGTS), providing the functions of body-weight support, postural support, and gait orthosis for patients who suffer from weakened lower limbs. The PRPGTS was designed as a soft-joint gait training rehabilitation system. The soft joints provide passive safety for patients. The PRPGTS features three subsystems: a pneumatic body weight support system, a pneumatic postural support system, and a pneumatic gait orthosis system. The dynamic behavior of these three subsystems are all involved in the PRPGTS, causing an extremely complicated dynamic behavior; therefore, this paper applies five individual interval type-2 fuzzy sliding controllers (IT2FSC) to compensate for the system uncertainties and disturbances in the PRGTS. The IT2FSCs can provide accurate and correct positional trajectories under passive safety protection. The feasibility of weight reduction and gait training with the PRPGTS using the IT2FSCs is demonstrated with a healthy person, and the experimental results show that the PRPGTS is stable and provides a high-trajectory tracking performance. |
| first_indexed | 2024-03-10T06:13:11Z |
| format | Article |
| id | doaj.art-4c9708f7784a4766ab40c6e8117d9347 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T06:13:11Z |
| publishDate | 2021-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-4c9708f7784a4766ab40c6e8117d93472023-11-22T19:56:11ZengMDPI AGSensors1424-82202021-10-012120670910.3390/s21206709Design, Manufacturing, and Control of a Pneumatic-Driven Passive Robotic Gait Training System for Muscle-Weakness in a Lower LimbI-Hsum Li0Yi-Shan Lin1Lian-Wang Lee2Wei-Ting Lin3Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, New Taipei City 25137, TaiwanDepartment of Mechanical Engineering, National Chung Hsing University, Taichung City 40227, TaiwanDepartment of Mechanical Engineering, National Chung Hsing University, Taichung City 40227, TaiwanDepartment of Mechanical and Electro-Mechanical Engineering, Tamkang University, New Taipei City 25137, TaiwanWe designed and manufactured a pneumatic-driven robotic passive gait training system (PRPGTS), providing the functions of body-weight support, postural support, and gait orthosis for patients who suffer from weakened lower limbs. The PRPGTS was designed as a soft-joint gait training rehabilitation system. The soft joints provide passive safety for patients. The PRPGTS features three subsystems: a pneumatic body weight support system, a pneumatic postural support system, and a pneumatic gait orthosis system. The dynamic behavior of these three subsystems are all involved in the PRPGTS, causing an extremely complicated dynamic behavior; therefore, this paper applies five individual interval type-2 fuzzy sliding controllers (IT2FSC) to compensate for the system uncertainties and disturbances in the PRGTS. The IT2FSCs can provide accurate and correct positional trajectories under passive safety protection. The feasibility of weight reduction and gait training with the PRPGTS using the IT2FSCs is demonstrated with a healthy person, and the experimental results show that the PRPGTS is stable and provides a high-trajectory tracking performance.https://www.mdpi.com/1424-8220/21/20/6709gait trainingrehabilitation roboticsassistive exoskeletonbody weight support systemgait orthosis systeminterval type-2 fuzzy sliding control |
| spellingShingle | I-Hsum Li Yi-Shan Lin Lian-Wang Lee Wei-Ting Lin Design, Manufacturing, and Control of a Pneumatic-Driven Passive Robotic Gait Training System for Muscle-Weakness in a Lower Limb Sensors gait training rehabilitation robotics assistive exoskeleton body weight support system gait orthosis system interval type-2 fuzzy sliding control |
| title | Design, Manufacturing, and Control of a Pneumatic-Driven Passive Robotic Gait Training System for Muscle-Weakness in a Lower Limb |
| title_full | Design, Manufacturing, and Control of a Pneumatic-Driven Passive Robotic Gait Training System for Muscle-Weakness in a Lower Limb |
| title_fullStr | Design, Manufacturing, and Control of a Pneumatic-Driven Passive Robotic Gait Training System for Muscle-Weakness in a Lower Limb |
| title_full_unstemmed | Design, Manufacturing, and Control of a Pneumatic-Driven Passive Robotic Gait Training System for Muscle-Weakness in a Lower Limb |
| title_short | Design, Manufacturing, and Control of a Pneumatic-Driven Passive Robotic Gait Training System for Muscle-Weakness in a Lower Limb |
| title_sort | design manufacturing and control of a pneumatic driven passive robotic gait training system for muscle weakness in a lower limb |
| topic | gait training rehabilitation robotics assistive exoskeleton body weight support system gait orthosis system interval type-2 fuzzy sliding control |
| url | https://www.mdpi.com/1424-8220/21/20/6709 |
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