The artificial muscle as an innovative actuator in rehabilitation robotics

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 17, Issue 1 PART 1, 2008, Pages

  Knestel, Markus ^a  

^a NONE

Author keywords

Identification and control methods; Modelling; Robotics technology

Indexed keywords

ARTIFICIAL MUSCLE; ARTIFICIAL PNEUMATIC MUSCLES; BACKSTEPPING CONTROL; DAMPER SYSTEMS; DISTURBANCE COMPENSATION; GAIT TRAINING; IDENTIFICATION AND CONTROL METHODS; KNEE JOINT; LOWER EXTREMITY; MECHANICAL MODEL; MODEL DESCRIPTION; MODELLING; MUSCLE VOLUME; NEUROLOGICAL DISORDERS; NON-LINEAR STABILITIES; NONLINEAR FORCE; OPERATING CONDITION; ORTHOSIS; PERFORMANCE INDICES; POLYNOMIAL FUNCTIONS; REHABILITATION ROBOT; REHABILITATION ROBOTICS; ROBOTICS TECHNOLOGY;

ACTUATORS; IDENTIFICATION (CONTROL SYSTEMS); JOINTS (ANATOMY); PATIENT REHABILITATION; PNEUMATIC EQUIPMENT; ROBOTICS; ROBOTS;

MUSCLE;

EID: 79961020211     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20080706-5-KR-1001.3436     Document Type: Conference Paper

References (12)

1. H. Aschemann and E. P. Hofer. Flatness-based trajectory control of a pneumatically driven carriage with model uncertainties. In Proceedings of NOLCOS, Stuttgart, Germany, 2004.
2. H. Aschemann, M. Knestel, and E.P. Hofer. Nonlinear control strategies for a parallel robot driven by pneumatic muscle actuators. In Proceedings of the 14th Workshop on Dynamics & Control, Moskow, Russia, to appear.
3. G. Colombo, M. Wirz, and V. Dietz. Driven gait orthosis for improvement of locomotor training in paraplegic patients. Spinal Cord, 39:252-255, 2001.
4. P. De Leva. Adjustments to zatsiorsky-seluyanovs segment parameters. Journal of Biomechanics, 29:1223-1230, 1996.
5. V. Dietz, G. Colombo, L. Jensen, and L. Baumgartner. Locomotor capacity of spinal cord in paraplegic patients. Ann Neurol, 37:574-582, 1995.
6. V. Dietz, R. Mueller, and G. Colombo. Locomotor activity in spinal man: significance of afferent input from joint and load receptors. Brain, 125:2626-2634, 2002.
7. O. Foellinger. Nichtlineare Regelungen II. R. Oldenburg Verlag Mnchen, 1993.
8. K. Gordon, G. Sawicki, and D. Ferris. Mechanical performance of artificial pneumatic muscles to power an ankle foot-orthosis. Journal of Biomechanics, 39:1832-1841, 2006.
9. H. Herr and R. Kornbluh. New horizons for orthotic and prosthetic technology: artificial muscle for ambulation. Proceedings of SPIEs Smart Structures and Materials 2004, Vol.5385 (2004):1-9, 2004.
10. S. Hesse, C. Bertelt, and M.T. et al.: Jahnke. Treadmill training with partial body weight support compared with physiotherapy in nonambulatory hemiparetic patients. Stroke, 26:976-981, 1995.
11. S. Klee Barillas. Identifikation, Modellbildung und nichtlineare Regelung des Kniegelenks eines durch pneumatische Muskeln angetriebenen Beintrainers. Diploma thesis, University of Ulm, 2007.
12. M. Knestel. Modellgestuetzter nichtlineaer Regelungs- und Beobachterentwurf fuer einen hochdynamischen Parallelroboter. Diploma thesis, University of Ulm, 2006.