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Design of a GAit Rehabilitation Exoskeleton

Design of a GAit Rehabilitation Exoskeleton

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Pneumatic artificial muscle (PAM) actuated rehabilitation robots have been widely researched, because of PAM's intrinsic compliance and high power-to-weight ratio. Task-specific gait rehabilitation training imposes strict torque, range of motion (ROM) and bandwidth requirements to the robotic exoskeleton design. However, the PAM's nonlinear and hysteresis behaviour, slow pressure dynamics and negative correlation between its force output and contracting length make the development even more challenging. To address such challenges, a new robotic GAit Rehabilitation EXoskeleton (GAREX) has been developed in order to facilitate task-specific gait rehabilitation with controlled intrinsic compliance. GAREX was designed for the experiments with human subjects. Several implementations ensure the safety of the subject, which is of paramount importance. GAREX has modular design to accommodate anthropometrics of most of the population.

Chapter Contents:

  • 8.1 Introduction
  • 8.2 Support structure and trunk mechanism
  • 8.3 Lower limb exoskeleton
  • 8.3.1 Actuation of the lower limb exoskeleton
  • 8.3.2 Mechanical and pneumatic system design of the lower limb mechanism
  • 8.4 Instrumentation
  • 8.5 Safety of GAREX
  • 8.6 Summary
  • References

Inspec keywords: artificial organs; gait analysis; pneumatic control equipment; patient rehabilitation; medical robotics; muscle; anthropometry

Other keywords: negative correlation; hysteresis behaviour; controlled intrinsic compliance; gait rehabilitation exoskeleton design; slow pressure dynamics; task-specific gait rehabilitation training; high power-to-weight ratio; PAM intrinsic compliance; anthropometrics; robotic GAit Rehabilitation EXoskeleton; GAREX; pneumatic artificial muscle; PAM actuated rehabilitation robots

Subjects: Prosthetics and orthotics; Robotics; Hydraulic and pneumatic control equipment; Biological and medical control systems; Prosthetics and other practical applications; Patient care and treatment

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