A novel design for lower extremity gait rehabilitation exoskeleton inspired by biomechanics

Sang Hun Pyo, Abdullah Özer, Jungwon Yoon

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

The use of robotic assistive devices and exoskeletons to supply movement therapy for the rehabilitation of patients following variety of diseases is noticeably growing presently. In order to provide consistent therapy as well as walking assistance, we are developing a wearable lower-limb exoskeleton robot with an adaptive foot device for better walking ability and enhanced stability. In this paper, we focus on the mechanical design of an active knee orthosis. The proposed kinematic design is inspired by the knee biomechanics. Therefore, it is expected that the proposed configuration will help to provide more natural gait during theraphy sessions of patients or in daily use as a sophisticated system. It is based on efficiently controlling the knee motions with hybrid actuations. The two actuators will be implemented with the proposed design; one as hamstring and the other as quadriceps. It is anticipated that the new system will offer an enhanced walking capacity for the patients.

Original languageEnglish
Title of host publicationICCAS 2010 - International Conference on Control, Automation and Systems
Pages1806-1811
Number of pages6
Publication statusPublished - 2010
EventInternational Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of
Duration: Oct 27 2010Oct 30 2010

Other

OtherInternational Conference on Control, Automation and Systems, ICCAS 2010
CountryKorea, Republic of
CityGyeonggi-do
Period10/27/1010/30/10

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Keywords

  • Bio-mechanics
  • Exoskeleton
  • Gait Rehabilitation
  • Human body dynamics

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Pyo, S. H., Özer, A., & Yoon, J. (2010). A novel design for lower extremity gait rehabilitation exoskeleton inspired by biomechanics. In ICCAS 2010 - International Conference on Control, Automation and Systems (pp. 1806-1811). [5669805]