A wearable lower-limb rehabilitation exoskeleton functions to fulfill the recovery process of limb functionality and assist physiotherapists. This paper presents an optimized adaptive control system for a exoskeleton. The tuning controller gains is defined as optimization problem closed-loop robot by genetic algorithm particle swarm optimization. We presented novel initialized model reference (...

This article introduces a multi-posture locomotor training device (MPLTD)with a closed-loop control scheme based on joint-angle feedback, which is able to overcome varies difficulties resulting from mechanical vibration and the weight of trainer to achieve higher accuracy trajectory. By introducing the forcefield control scheme that used in the closed-loop control, the device can obtain the act...

Lower-limb exoskeletons provide people who suffer from lower limb impairments with an opportunity to stand up and ambulate. Standing is a crucial task for lower-limb as it allows the user transfer exoskeleton wheelchair, no assistance, can be precursor walking. Achieving safe sit-to-stand motion + system challenging because of need balance comfort while respecting hardware bounds being robust c...

According to the characteristics of human gait and requirements power assistance, locomotive mechanisms electrohydraulic servo driving are designed on a lower limb exoskeleton robot, in which miniaturization lightweight system realized. The kinematics robot is analyzed verified via typical movements exoskeleton. In this article, simulation joints during level walking was ADAMS 2016, multibody m...

“I will never forget the emotion of my first steps [...],” Françoise, first user during initial trials of the exoskeleton ATALANTE [1] discussed in this paper. “I am tall again!”, Sandy, the fourth user after standing up in the exoskeleton. In these early tests, complete paraplegic patients have dynamically walked up to 10 m without crutches or other assistance using a feedback control method o...

This paper introduces novel modern equipment-a lower extremity exoskeleton, which can implement the mutual complement and the interaction between human intelligence and the robot's mechanical strength. In order to provide a reference for the exoskeleton structure and the drive unit, the human biomechanics were modeled and analyzed by LifeModeler and Adams software to derive each joint kinematic...

An exact classification of different gait phases is essential to enable the control of exoskeleton robots and detect the intentions of users. We propose a gait phase classification method based on neural networks using sensor signals from lower limb exoskeleton robots. In such robots, foot sensors with force sensing registers are commonly used to classify gait phases. We describe classifiers th...

Lower-limb robotic exoskeletons are wearable devices that can be beneficial for people with lower-extremity motor impairment because they valuable in rehabilitation or assistance. These controlled mentally by means of brain–machine interfaces (BMI). The aim the present study was design a BMI based on imagery (MI) to control gait lower-limb exoskeleton. evaluation is carried out able-bodied subj...

To help people with impairment of lower extremity movement regain the ability to stand and walk, enhance limb function, this study proposes an anthropomorphic design electrically driven, lower-limb exoskeleton rehabilitation robot. The angular range robot’s motion was determined according characteristics targeted joints; robot given active–passive 12 degrees freedom. multi-degree-of-freedom hip...

This paper presents the mechanical analysis of a lower limb exoskeleton for rehabilitation for both legs that was developed in University Putra Malaysia (UPM). The main objective of the project is to develop a wearable exoskeleton system based on the average height of Malaysian to enhance the wearability of the system to lower limbs. An anthropomorphic design was adopted in the prototype with p...