Self-Balancing Exoskeleton Robots Designed to Facilitate Multiple Rehabilitation Training Movements
This study presents the biomimetic design of the structure and controller of AutoLEE-II, a self-balancing exoskeleton developed to assist patients in performing multiple rehabilitation movements without crutches or other supporting equipment. Its structural design is founded upon the human body stru...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2024-01-01
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| Series: | IEEE Transactions on Neural Systems and Rehabilitation Engineering |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10379018/ |
| _version_ | 1827381201087758336 |
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| author | Dingkui Tian Wentao Li Jinke Li Feng Li Ziqiang Chen Yong He Jianquan Sun Xinyu Wu |
| author_facet | Dingkui Tian Wentao Li Jinke Li Feng Li Ziqiang Chen Yong He Jianquan Sun Xinyu Wu |
| author_sort | Dingkui Tian |
| collection | DOAJ |
| description | This study presents the biomimetic design of the structure and controller of AutoLEE-II, a self-balancing exoskeleton developed to assist patients in performing multiple rehabilitation movements without crutches or other supporting equipment. Its structural design is founded upon the human body structure, with an eliminated axis deviation and a raised CoM of the exoskeleton. The controller is a physical parameter-independent controller based on the CoM modification. Thus, the exoskeleton can adapt to patients with different physical parameters. Five subjects underwent exoskeleton-assisted rehabilitation training experiments, including squatting, tilting, and walking trainings. The results showed that the exoskeleton can assist patients in completing various rehabilitation exercises and help them maintain their balance during the rehabilitation training. This helpful role of the exoskeleton in rehabilitation training is analyzed through an electromyography (EMG) data analysis. The findings revealed that wearing the exoskeleton can reduce the activity of the lower limb muscles by approximately 20–30% when performing the same rehabilitation exercises. |
| first_indexed | 2024-03-08T13:52:46Z |
| format | Article |
| id | doaj.art-efc2396bc97f492d8c520dc872c88cf0 |
| institution | Directory Open Access Journal |
| issn | 1558-0210 |
| language | English |
| last_indexed | 2024-03-08T13:52:46Z |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Transactions on Neural Systems and Rehabilitation Engineering |
| spelling | doaj.art-efc2396bc97f492d8c520dc872c88cf02024-01-16T00:00:29ZengIEEEIEEE Transactions on Neural Systems and Rehabilitation Engineering1558-02102024-01-013229330310.1109/TNSRE.2023.334898510379018Self-Balancing Exoskeleton Robots Designed to Facilitate Multiple Rehabilitation Training MovementsDingkui Tian0https://orcid.org/0009-0000-6997-2586Wentao Li1https://orcid.org/0009-0005-8657-3305Jinke Li2https://orcid.org/0000-0002-2974-1756Feng Li3Ziqiang Chen4https://orcid.org/0009-0001-6888-2084Yong He5Jianquan Sun6https://orcid.org/0000-0002-0776-7453Xinyu Wu7https://orcid.org/0000-0001-6130-7821Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, ChinaGuangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, ChinaGuangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, ChinaGuangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, ChinaGuangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, ChinaGuangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, ChinaGuangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, ChinaGuangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, ChinaThis study presents the biomimetic design of the structure and controller of AutoLEE-II, a self-balancing exoskeleton developed to assist patients in performing multiple rehabilitation movements without crutches or other supporting equipment. Its structural design is founded upon the human body structure, with an eliminated axis deviation and a raised CoM of the exoskeleton. The controller is a physical parameter-independent controller based on the CoM modification. Thus, the exoskeleton can adapt to patients with different physical parameters. Five subjects underwent exoskeleton-assisted rehabilitation training experiments, including squatting, tilting, and walking trainings. The results showed that the exoskeleton can assist patients in completing various rehabilitation exercises and help them maintain their balance during the rehabilitation training. This helpful role of the exoskeleton in rehabilitation training is analyzed through an electromyography (EMG) data analysis. The findings revealed that wearing the exoskeleton can reduce the activity of the lower limb muscles by approximately 20–30% when performing the same rehabilitation exercises.https://ieeexplore.ieee.org/document/10379018/Rehabilitationself-balancing exoskeletonbiomimetic structurephysical parameter-independent controller |
| spellingShingle | Dingkui Tian Wentao Li Jinke Li Feng Li Ziqiang Chen Yong He Jianquan Sun Xinyu Wu Self-Balancing Exoskeleton Robots Designed to Facilitate Multiple Rehabilitation Training Movements IEEE Transactions on Neural Systems and Rehabilitation Engineering Rehabilitation self-balancing exoskeleton biomimetic structure physical parameter-independent controller |
| title | Self-Balancing Exoskeleton Robots Designed to Facilitate Multiple Rehabilitation Training Movements |
| title_full | Self-Balancing Exoskeleton Robots Designed to Facilitate Multiple Rehabilitation Training Movements |
| title_fullStr | Self-Balancing Exoskeleton Robots Designed to Facilitate Multiple Rehabilitation Training Movements |
| title_full_unstemmed | Self-Balancing Exoskeleton Robots Designed to Facilitate Multiple Rehabilitation Training Movements |
| title_short | Self-Balancing Exoskeleton Robots Designed to Facilitate Multiple Rehabilitation Training Movements |
| title_sort | self balancing exoskeleton robots designed to facilitate multiple rehabilitation training movements |
| topic | Rehabilitation self-balancing exoskeleton biomimetic structure physical parameter-independent controller |
| url | https://ieeexplore.ieee.org/document/10379018/ |
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