Exoskeletons are utilized extensively in robotic rehabilitation and power augmentation purposes. One of the most recognised control algorithms utilized in this field is the impedance controller. Impedance control approach provides the capability of realizing different rehabilitation exercises by tuning the target impedance gains. Trial and error experimental approach is one of the most common m...

This paper touches upon the issue of designing of an upper-limb exoskeleton used for rehabilitation. Mainly there are presented the results concerning the mechanical design. The exoskeleton, also known as orthosis, has 12 degrees of freedom (DOF). Among 12 DOF there can be distinguished 7 DOF which are actively controlled during rehabilitation, 3 passive DOF which are responsible for wrist move...

The science of rehabilitation shows that repeated movements of human limbs can help the patient regain function in the injured limb. There are three types of mechanical systems used for movement rehabilitation: robots, cable-driven manipulators, and exoskeletons. Industrial robots can be used because they provide a three-dimensional workspace with a wide range of flexibility to execute differen...

In lower-limb rehabilitation systems, exoskeleton robots are one of the most important components. These help patients to execute repetitive exercises under guidance physiotherapists. Recently, pneumatic artificial muscles (PAM), a kind actuator that acts similarly human muscles, have been chosen power robot for better human–machine interaction. order enhance performance PAM-based robot, this a...

For achieving trajectory tracking issue of the lower limb exoskeleton robot, a novel optimal robust control with cooperative game theory is proposed. The uncertainties are considered (possible time-varying, bounded and fast), fuzzy set creatively adopted to describe boundary. From view analytical mechanics, treated as constraints problem, including holonomic nonholonomic constraints, which need...

We propose a novel class of unsupervised learning-based algorithms that extend the conditional restricted Boltzmann machine to predict, in real-time, a lower limb exoskeleton wearer’s intended movement type and future trajectory. During training, our algorithm automatically clusters unlabeled exoskeletal measurement data into movement types. Our predictor then takes as input a short time series...

Human upper-limb involves for many daily human activities. The human intention for upperlimb motions can be estimated based on the activation pattern of upper-limb muscles. The upper-limb muscle activities during the daily upper-limb motions have been studied to enable power-assist robotic exoskeleton systems to estimate human upper-limb motions based on muscle electromyographic (EMG) signals. ...