Control Architecture of a 10 DOF Lower Limbs Exoskeleton for Gait Rehabilitation

Koceska, Natasa and Koceski, Saso and Durante, Francesco and Beomonte, Pierluigi and Raparelli, Terenziano (2012) Control Architecture of a 10 DOF Lower Limbs Exoskeleton for Gait Rehabilitation. International Journal of Advanced Robotic Systems, 10. p. 1. ISSN 1729-8806

[thumbnail of InTech_Koceski1.pdf]

Download (1MB) | Preview


This paper describes the control architecture of a
10 DOF (Degrees of Freedom) lower limbs exoskeleton
for the gait rehabilitation of patients with gait
dysfunction. The system has 4 double‐acting rod
pneumatic actuators (two for each leg) that control the
hip and knee joints. The motion of each cylinder’s piston
is controlled by two proportional pressure valves,
connected to both cylinder chambers.
The control strategy has been specifically designed in
order to ensure a proper trajectory control for guiding
patient’s legs along a fixed reference gait pattern.
An adaptive fuzzy controller which is capable of
compensating for the influence of the dry friction was
successfully designed, implemented and tested on an
embedded real‐time PC/104.
In order to verify the proposed control architecture,
laboratory experiments without a patient were carried
out and the results are reported here and discussed.

Item Type: Article
Subjects: Natural sciences > Computer and information sciences
Engineering and Technology > Mechanical engineering
Engineering and Technology > Other engineering and technologies
Divisions: Faculty of Computer Science
Depositing User: Saso Koceski
Date Deposited: 28 Feb 2013 20:57
Last Modified: 23 Sep 2013 14:15

Actions (login required)

View Item View Item