Couple Control Model Implementation on Antagonistic Mono- and Bi-Articular Actuators
This is an incremental improvement for robotic-assisted therapy in spinal cord injury rehabilitation.
The study tackled the problem of controlling lower-limb orthosis for spinal cord injury rehabilitation by proposing a couple control model that uses antagonistic pneumatic artificial muscles. The result showed that the model successfully controlled both mono- and bi-articular actuators to perform walking motions.
Recently, robot assisted therapy devices are increasingly used for spinal cord injury (SCI) rehabilitation in assisting handicapped patients to regain their impaired movements. Assistive robotic systems may not be able to cure or fully compensate impairments, but it should be able to assist certain impaired functions and ease movements. In this study, a couple control model for lower-limb orthosis of a body weight support gait training system is proposed. The developed leg orthosis implements the use of pneumatic artificial muscle as an actuation system. The pneumatic muscle was arranged antagonistically to form two pair of mono-articular muscles (i.e., hip and knee joints), and a pair of bi-articular actuators (i.e., rectus femoris and hamstring). The results of the proposed couple control model showed that, it was able to simultaneously control the antagonistic mono- and bi-articular actuators and sufficiently performed walking motion of the leg orthosis.