Couple Control Model Implementation on Antagonistic Mono- and Bi-Articular Actuators

TL;DR

This paper presents a couple control model for a lower-limb orthosis using pneumatic artificial muscles, enabling simultaneous control of antagonistic mono- and bi-articular actuators to assist gait training in SCI rehabilitation.

Contribution

It introduces a novel control model for pneumatic muscle actuators in a lower-limb orthosis, integrating mono- and bi-articular control for improved gait assistance.

Findings

Successfully controlled antagonistic actuators during walking motion

Demonstrated effective coordination of mono- and bi-articular muscles

Enabled leg orthosis to perform gait training movements

Abstract

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.