Robotic gait rehabilitation faces many challenges regarding ankle assistance, body weight support and physical human-robot interaction. This paper reports on the development of a gait rehabilitation exoskeleton prototype intended as a platform for the evaluation of design and control concepts in view of improved physical human-robot interaction. The performance of proxy-based sliding mode control as a ldquorobot-in-chargerdquo control strategy is evaluated both in simulation and in experiments on a test setup. Compared to PID control, test results indicate good tracking performance and in particular safe system behavior.

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Gait training of stroke survivors is crucial to facilitate neuromuscular plasticity needed for improvements in functional walking ability. Robot assisted gait training (RAGT) was developed for stroke survivors using active leg exoskeleton (ALEX) and a force-field controller, which uses assist-as-needed paradigm for rehabilitation. In this paradigm undesirable gait motion is resisted and assistance is provided towards desired motion. The force-field controller achieves this paradigm by effectively applying forces at the ankle of the subject through actuators on the hip and knee joints. Two stroke survivors participated in a 15-session gait training study each with ALEX. The results show that by the end of the training the gait pattern of the patients improved and became closer to a healthy subject’s gait pattern. Improvement is seen as an increase in the size of the patients’ gait pattern, increased knee and ankle joint excursions and increase in their walking speeds on the treadmill.

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Our new Limpact exoskeleton is mechanically based on the design of the passive Dampace and will be powered by rotational hydro-elastic actuators (rHEAs), using impedance control. In this paper we describe the design of the rHEA, which is a novel, custom-designed combination of a rotational hydraulic actuator and a symmetric torsion spring. The rHEA can also be used as a springless hydraulic actuator for stiffer admittance control, or for isometric large-torque measurements of up to 100 Nm, by locking specific components in the design. Our implementation of HEA required alterations to the existing theoretical models to account for (1) our long flexible tubes between the valve and cylinder, and (2) the influence of the pressure feedback on the valve flow. These newly adapted models gave the best fits on the frequency response functions from our open- and closed-loop identification experiments, and might even provide a better fit for the data in the original publication of the theoretical models. Multi-sine identification showed the torque-tracking bandwidth restricted to 18 Hz for a constant spectral-density reference signal of 20 nm, mostly due the transport delays in the long flexible tubes. The measured torque resolution was better then 0.01 Nm. The delivered torque resolution was below 1 Nm, although at those small amplitudes, the output signal was accompanied by significant phase lead indicating some unaccounted for non-linearities in the actuator. When manipulated manually by forefinger and thumb, almost no distortion torques were felt during minimal-impedance and virtual-spring control. The symmetric torsion spring proved difficult to model correctly, and finding the best design became an iterative process. The spring in the prototype, used for the measurements as reported in this study, had a stiffness and maximum torque below those theoretically calculated, limiting the desired output to 22 Nm. With our latest spring design for the actuators in the Limpact, t- — he maximum output torque is increased to 50 Nm.

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Robotic rehabilitation has gained significant traction in recent years, due to the clinical demonstration of its efficacy in restoring function for upper extremity movements and locomotor skills, demonstrated primarily in stroke populations. In this paper, we present the design of MAHI Exo II, a robotic exoskeleton for the rehabilitation of upper extremity after stroke, spinal cord injury, or other brain injuries. The five degree-of-freedom robot enables elbow flexion-extension, forearm pronation-supination, wrist flexion-extension, and radial-ulnar deviation. The device offers several significant design improvements compared to its predecessor, MAHI Exo I. Specifically, issues with backlash and singularities in the wrist mechanism have been resolved, torque output has been increased in the forearm and elbow joints, a passive degree of freedom has been added to allow shoulder abduction thereby improving alignment especially for users who are wheelchair-bound, and the hardware now enables simplified and fast swapping of treatment side. These modifications are discussed in the paper, and results for the range of motion and maximum torque output capabilities of the new design and its predecessor are presented. The efficacy of the MAHI Exo II will soon be validated in a series of clinical evaluations with both stroke and spinal cord injury patients.

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The gait of every adult is unique and expected to be ingrained within the neuromuscular system. The major scientific question that we ask in this paper if it is possible to alter the gait of healthy individuals using special purpose design of robots and training paradigms. This paper describes novel experimental results with an active leg exoskeleton (ALEX) and a force-field controller (FFC) developed for neuromotor training of gait and rehabilitation of patients with walking disabilities. ALEX is a motorized leg orthosis having a total of 7 DOFs with hip and knee actuated in the sagittal plane. The FFC applies forces on the foot to help the leg move on a desired trajectory. The interaction forces between the subject and the orthosis are designed to be ??assist-as-needed?? for safe and effective gait training. Simulations and experimental results with the FFC are presented. Experiments have been performed on six healthy subjects walking on a treadmill. It was shown that a healthy subject could be retrained in about 45 min with ALEX to walk on a treadmill with a considerably altered gait. In the coming months, this powered orthosis will be used for gait training of stroke patients.

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