An Exoskeleton for Gait Rehabilitation: Prototype Design and Control Principle

Pieter Beyl; Michael Van Damme; Ronald Van Ham; Rino Versluys; Bram Vanderborght; Dirk Lefeber

An Exoskeleton for Gait Rehabilitation: Prototype Design and Control Principle

Pieter Beyl, Michael Van Damme, Ronald Van Ham, Rino Versluys, Bram Vanderborght, Dirk Lefeber

Applied Mechanics

Research output: Chapter in Book/Report/Conference proceeding › Conference paper

42 Citations (Scopus)

Abstract

Research in robotic gait rehabilitation still faces many
challenges regarding ankle assistance, body weight support
and human-robot interaction. This paper reports on the
development, focusing on these challenges, of a gait
rehabilitation exoskeleton powered by pleated pneumatic
artificial muscles. The first prototype is intended as a
platform for the evaluation of design and control concepts.
The mechanical design procedure is explained with the
emphasis on optimization. A proxy-based sliding mode
control approach is proposed and evaluated by simulation. Simulation results indicate good
tracking performance and safe system behavior, encouraging experimental validation on the prototype.

Original language	English
Title of host publication	Proceedings of the 2008 IEEE International Conference on Robotics and Automation
Pages	2037-2042
Number of pages	6
Publication status	Published - 19 May 2008
Event	Finds and Results from the Swedish Cyprus Expedition: A Gender Perspective at the Medelhavsmuseet - Stockholm, Sweden Duration: 21 Sept 2009 → 25 Sept 2009

Conference

Conference	Finds and Results from the Swedish Cyprus Expedition: A Gender Perspective at the Medelhavsmuseet
Country/Territory	Sweden
City	Stockholm
Period	21/09/09 → 25/09/09

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Persistent link

IEEE International Conference on Robotics and Automation (ICRA2008)
Beyl, P. (Speaker)
19 May 2008 → 23 May 2008
Activity: Talk or presentation › Talk or presentation at a conference
IEEE International Conference on Robotics and Automation (ICRA2008)
Van Damme, M. (Participant)
19 May 2008 → 23 May 2008
Activity: Participating in or organising an event › Participation in conference
IEEE International Conference on Robotics and Automation (ICRA2008)
Lefeber, D. (Chair)
19 May 2008 → 23 May 2008
Activity: Participating in or organising an event › Participation in conference

Cite this

@inproceedings{65f068bd0b6c43909b773c4e9688e16f,

title = "An Exoskeleton for Gait Rehabilitation: Prototype Design and Control Principle",

abstract = "Research in robotic gait rehabilitation still faces many challenges regarding ankle assistance, body weight support and human-robot interaction. This paper reports on the development, focusing on these challenges, of a gait rehabilitation exoskeleton powered by pleated pneumatic artificial muscles. The first prototype is intended as a platform for the evaluation of design and control concepts. The mechanical design procedure is explained with the emphasis on optimization. A proxy-based sliding mode control approach is proposed and evaluated by simulation. Simulation results indicate good tracking performance and safe system behavior, encouraging experimental validation on the prototype.",

author = "Pieter Beyl and {Van Damme}, Michael and {Van Ham}, Ronald and Rino Versluys and Bram Vanderborght and Dirk Lefeber",

year = "2008",

month = may,

day = "19",

language = "English",

pages = "2037--2042",

booktitle = "Proceedings of the 2008 IEEE International Conference on Robotics and Automation",

note = "Finds and Results from the Swedish Cyprus Expedition: A Gender Perspective at the Medelhavsmuseet ; Conference date: 21-09-2009 Through 25-09-2009",

}

Beyl, P, Van Damme, M , Van Ham, R, Versluys, R, Vanderborght, B & Lefeber, D 2008, An Exoskeleton for Gait Rehabilitation: Prototype Design and Control Principle. in Proceedings of the 2008 IEEE International Conference on Robotics and Automation. pp. 2037-2042, Finds and Results from the Swedish Cyprus Expedition: A Gender Perspective at the Medelhavsmuseet, Stockholm, Sweden, 21/09/09.

TY - GEN

T1 - An Exoskeleton for Gait Rehabilitation: Prototype Design and Control Principle

AU - Beyl, Pieter

AU - Van Damme, Michael

AU - Van Ham, Ronald

AU - Versluys, Rino

AU - Vanderborght, Bram

AU - Lefeber, Dirk

PY - 2008/5/19

Y1 - 2008/5/19

N2 - Research in robotic gait rehabilitation still faces many challenges regarding ankle assistance, body weight support and human-robot interaction. This paper reports on the development, focusing on these challenges, of a gait rehabilitation exoskeleton powered by pleated pneumatic artificial muscles. The first prototype is intended as a platform for the evaluation of design and control concepts. The mechanical design procedure is explained with the emphasis on optimization. A proxy-based sliding mode control approach is proposed and evaluated by simulation. Simulation results indicate good tracking performance and safe system behavior, encouraging experimental validation on the prototype.

AB - Research in robotic gait rehabilitation still faces many challenges regarding ankle assistance, body weight support and human-robot interaction. This paper reports on the development, focusing on these challenges, of a gait rehabilitation exoskeleton powered by pleated pneumatic artificial muscles. The first prototype is intended as a platform for the evaluation of design and control concepts. The mechanical design procedure is explained with the emphasis on optimization. A proxy-based sliding mode control approach is proposed and evaluated by simulation. Simulation results indicate good tracking performance and safe system behavior, encouraging experimental validation on the prototype.

M3 - Conference paper

SP - 2037

EP - 2042

BT - Proceedings of the 2008 IEEE International Conference on Robotics and Automation

T2 - Finds and Results from the Swedish Cyprus Expedition: A Gender Perspective at the Medelhavsmuseet

Y2 - 21 September 2009 through 25 September 2009

ER -

An Exoskeleton for Gait Rehabilitation: Prototype Design and Control Principle

Abstract

Conference

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Activities

IEEE International Conference on Robotics and Automation (ICRA2008)

IEEE International Conference on Robotics and Automation (ICRA2008)

IEEE International Conference on Robotics and Automation (ICRA2008)

Cite this