AIMC Topic: Torque

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Integration, Sensing, and Control of a Modular Soft-Rigid Pneumatic Lower Limb Exoskeleton.

Soft robotics
This article presents the system integration, sensing, and control of a novel modular soft-rigid pneumatic exoskeleton for lower limb. The proposed exoskeleton consists of three soft hinges (to drive the hip, knee, and ankle joints) and four rigid li...

Adaptive Neural Sliding-Mode Controller for Alternative Control Strategies in Lower Limb Rehabilitation.

IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
Research on control strategies for rehabilitation robots has gradually shifted from providing therapies with fixed, relatively stiff assistance to compelling alternatives with assistance or challenge strategies to maximize subject participation. Thes...

A probabilistic method to estimate gait kinetics in the absence of ground reaction force measurements.

Journal of biomechanics
Human joint torques during gait are usually computed using inverse dynamics. This method requires a skeletal model, kinematics and measured ground reaction forces and moments (GRFM). Measuring GRFM is however only possible in a controlled environment...

A Multi-Mode Rehabilitation Robot With Magnetorheological Actuators Based on Human Motion Intention Estimation.

IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
Lower extremity paralysis has become common in recent years, and robots have been developed to help patients recover from it. This paper presents such a robotic system that allows for two working modes, the robot-active mode and human-active mode. Th...

Time-delay estimation based computed torque control with robust adaptive RBF neural network compensator for a rehabilitation exoskeleton.

ISA transactions
A new approach to gait rehabilitation task of a 12 DOF lower limb exoskeleton is proposed combining time-delay estimation (TDE) based computed torque control (CTC) and robust adaptive RBF neural networks. In addition to the conventional advantages of...

Ankle torque steadiness and gait speed after a single session of robot therapy in individuals with chronic hemiparesis: a pilot study.

Topics in stroke rehabilitation
Anklebot therapy has proven to be effective in improving hemiparetic gait. However, neither ankle torque steadiness nor the relationship between changes in force control and functional tasks after therapy with Anklebot were described. To assess whet...

Influences of the biofeedback content on robotic post-stroke gait rehabilitation: electromyographic vs joint torque biofeedback.

Journal of neuroengineering and rehabilitation
BACKGROUND: Add-on robot-mediated therapy has proven to be more effective than conventional therapy alone in post-stroke gait rehabilitation. Such robot-mediated interventions routinely use also visual biofeedback tools. A better understanding of bio...

Robotic Glove with Soft-Elastic Composite Actuators for Assisting Activities of Daily Living.

Soft robotics
Soft robotic hand/gloves for hand rehabilitation can aid the performance of activities of daily living (ADL). Although existing soft robotic hands can assist with finger flexion, few have addressed finger extension, which is a challenging task for st...

Computational modeling of neuromuscular response to swing-phase robotic knee extension assistance in cerebral palsy.

Journal of biomechanics
Predicting subject-specific responses to exoskeleton assistance may aid in maximizing functional gait outcomes, such as achieving full knee-extension at foot contact in individuals with crouch gait from cerebral palsy (CP). The purpose of this study ...

Physiological and kinematic effects of a soft exosuit on arm movements.

Journal of neuroengineering and rehabilitation
BACKGROUND: Soft wearable robots (exosuits), being lightweight, ergonomic and low power-demanding, are attractive for a variety of applications, ranging from strength augmentation in industrial scenarios, to medical assistance for people with motor i...