Robotic Exoskeleton Control for Lower Limb Rehabilitation of Knee Joint

  • Authors

    • Syed Faiz Ahmed
    • M Kamran Joyo
    • Athar Ali
    • Abdul Malik M. Ali
    • Kushsairy A. Kadir
    • Yarooq R. Naqvi
    • Badri A. Bakar
    • Asadullah Shah
    2018-06-08
    https://doi.org/10.14419/ijet.v7i2.34.13912
  • .

  • Abstract

    Wearable devices such as exoskeletons are being opted frequently during rehabilitation processes for the post stroke recovery. Such devices are playing important role in the development of assistive rehabilitation robotic systems. In this paper three control strategies MPC and LQR and PID are introduced which were applied to knee joint of lower limb exoskeleton model for passive exercise. The two controls MPC and LQR are model based control which empowers them for stable responses. In this paper the analysis of robustness of control is done under the noisy and disturbance conditions. The results showed good performance of the exoskeleton model with the applied controls in the provided condition. In the future work the applied controls will be implemented on hardware.

  • References

    1. [1] D. Lloyd-Jones, R. J. Adams, T. M. Brown et al., “Heart
      disease and stroke statistics—2010 update: a report from the
      American heart association,†Circulation, vol. 121, no. 7, pp.
      e46–e215, 2010.

      [2] D. S. Smith, E. Goldenberg, A. Ashburn et al., “Remedial
      therapy after stroke: a randomised controlled trial,†The British Medical Journal, vol. 282, no. 6263, pp. 517–520, 1981.

      [3] M. Dam, P. Tonin, S. Casson et al., “The effects of long-term
      rehabilitation therapy on poststroke hemiplegic patients,â€
      Stroke, vol. 24, no. 8, pp. 1186–1191, 1993.

      [4] Wernig, A.; Nanassy, A.; Muller, S. Maintenance of locomotor abilities following laufband (treadmill) therapy in para- and tetraplegic persons: Follow-up studies. Spinal Cord 1998, 36, 744–749.

      [5] Dzahir MAM, Yamamoto S-I. Recent Trends in Lower-Limb Robotic Rehabilitation Orthosis: Control Scheme and Strategy for Pneumatic Muscle Actuated Gait Trainers. Robotics. 2014; 3(2):120-148.

      [6] AkdoÄŸan, E., & Adli, M. A. (2011). The design and control of a therapeutic exercise robot for lower limb rehabilitation: Physiotherabot. Mechatronics, 21(3), 509-522.

      [7] Chow, Kevin, and Charles C. Kemp. "Robotic repositioning of human limbs via model predictive control." In Robot and Human Interactive Communication (RO-MAN), 2016 25th IEEE International Symposium on, pp. 473-480. IEEE, 2016.

      [8] Ali, A., Ahmed, S. F., Joyo, M. K., & Kushsairy, K. (2017, August). MPC-PID comparison for controlling therapeutic upper limb rehabilitation robot under perturbed conditions. In Engineering Technologies and Social Sciences (ICETSS), 2017 IEEE 3rd International Conference on (pp. 1-5). IEEE

      [9] Jatsun, S., S. Savin, and A. Yatsun. "Motion control algorithm for a lower limb exoskeleton based on iterative LQR and ZMP method for trajectory generation." International Workshop on Medical and Service Robots. Springer, Cham, 2016.

      [10] Tanveer, M. H., Hazry, D., Ahmed, S. F., Joyo, M. K., Warsi, F. A., Kamaruddin, H., ... & Shahriman, A. B. (2014, March). NMPC-PID based control structure design for avoiding uncertainties in attitude and altitude tracking control of quad-rotor (UAV). In Signal Processing & its Applications (CSPA), 2014 IEEE 10th International Colloquium on (pp. 117-122). IEEE.

      [11]Joyo, M. K., Ahmed, S. F., Bakar, M. I. A., & Ali, A. (2018). Horizontal Motion Control of Underactuated Quadrotor Under Disturbed and Noisy Circumstances. In Information and Communication Technology (pp. 63-79). Springer, Singapore.

      [12] Ahmed, S. F. (2007, December). A new approach in Industrial automation application" Embedded system design for Injection Molding Machine". In Multitopic Conference, 2007. INMIC 2007. IEEE International (pp. 1-5). IEEE

      [13] Ahmed, S. F., Kushsairy, K., Bakar, M. I. A., Hazry, D., & Joyo, M. K. (2015, April). Attitude stabilization of Quad-rotor (UAV) system using Fuzzy PID controller (an experimental test). In Computing Technology and Information Management (ICCTIM), 2015 Second International Conference on (pp. 99-104). IEEE.

  • Downloads

  • How to Cite

    Faiz Ahmed, S., Kamran Joyo, M., Ali, A., Malik M. Ali, A., A. Kadir, K., R. Naqvi, Y., A. Bakar, B., & Shah, A. (2018). Robotic Exoskeleton Control for Lower Limb Rehabilitation of Knee Joint. International Journal of Engineering & Technology, 7(2.34), 56-59. https://doi.org/10.14419/ijet.v7i2.34.13912

    Received date: 2018-06-08

    Accepted date: 2018-06-08

    Published date: 2018-06-08