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Design and control of a lower limb exoskeleton for robot-assisted gait training

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Pages 229-243 | Received 30 Sep 2008, Accepted 23 Jan 2009, Published online: 22 Jul 2009

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Yinan Jin, Prashant K. Jamwal, Roland Goecke, Mergen H. Ghayesh & Shahid Hussain. (2023) Design and analysis of a multi-DOF compliant gait rehabilitation robot. Mechanics Based Design of Structures and Machines 0:0, pages 1-26.
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P. Beyl, K. Knaepen, S. Duerinck, M. Van Damme, B. Vanderborght, R. Meeusen & D. Lefeber. (2011) Safe and Compliant Guidance by a Powered Knee Exoskeleton for Robot-Assisted Rehabilitation of Gait. Advanced Robotics 25:5, pages 513-535.
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Articles from other publishers (32)

Bin Ren, Xurong Luo, Heng Li, Jiayu Chen & Yao Wang. (2021) Gait trajectory‐based interactive controller for lower limb exoskeletons for construction workers. Computer-Aided Civil and Infrastructure Engineering 37:5, pages 558-572.
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Romain Baud, Ali Reza Manzoori, Auke Ijspeert & Mohamed Bouri. (2021) Review of control strategies for lower-limb exoskeletons to assist gait. Journal of NeuroEngineering and Rehabilitation 18:1.
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Muhammad Arsalan, Muhammad Tufail, SG Khan & Syed Humayoon Shah. (2021) Adaptive Learning Inertia Control of Lower Limb Exoskeleton Robot.. Adaptive Learning Inertia Control of Lower Limb Exoskeleton Robot..
Siddharth Bhardwaj, Abid Ali Khan & Mohammad Muzammil. (2021) Lower limb rehabilitation robotics: The current understanding and technology. Work 69:3, pages 775-793.
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A. Capace, L. Randazzini, C. Cosentino, M. Romano, A. Merola & F. Amato. (2020) Design, realization and experimental characterisation of a controllable-compliance joint of a robotic exoskeleton for assist-as-needed rehabilitation. Design, realization and experimental characterisation of a controllable-compliance joint of a robotic exoskeleton for assist-as-needed rehabilitation.
Jae Hwan Bong, Suhun Jung, Namji Park, Seung-Jong Kim & Shinsuk Park. (2020) Development of a Novel Robotic Rehabilitation System With Muscle-to-Muscle Interface. Frontiers in Neurorobotics 14.
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Maria del Carmen Sanchez-Villamañan, Jose Gonzalez-Vargas, Diego Torricelli, Juan C. Moreno & Jose L. Pons. (2019) Compliant lower limb exoskeletons: a comprehensive review on mechanical design principles. Journal of NeuroEngineering and Rehabilitation 16:1.
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Mengshi Zhang, Jian Huang, Yu Cao & Hai-Tao Zhang. (2019) Super Twisting Control of Passive Gait Training Exoskeleton Driven by Pneumatic Muscles. Super Twisting Control of Passive Gait Training Exoskeleton Driven by Pneumatic Muscles.
Ildar Farkhatdinov, Julia Ebert, Gijs van Oort, Mark Vlutters, Edwin van Asseldonk & Etienne Burdet. (2019) Assisting Human Balance in Standing With a Robotic Exoskeleton. IEEE Robotics and Automation Letters 4:2, pages 414-421.
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C. B. Sanz-Morere, M. Fantozzi, A. Parri, F. Giovacchini, A. Baldoni, M. Cempini, S. Crea, D. Lefeber & N. Vitiello. (2019) A Knee–Ankle–Foot Orthosis to Assist the Sound Limb of Transfemoral Amputees. IEEE Transactions on Medical Robotics and Bionics 1:1, pages 38-48.
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Hee Doo Yang, Brandyn T. Greczek & Alan T. Asbeck. (2019) Modeling and Analysis of a High-Displacement Pneumatic Artificial Muscle With Integrated Sensing. Frontiers in Robotics and AI 5.
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Ngu Wah & Myo Thant Sin Aung. (2017) Proxy based sliding mode control augmented with friction compensator for use in 1-DOF freehand ultrasound probe. Proxy based sliding mode control augmented with friction compensator for use in 1-DOF freehand ultrasound probe.
Chao Huang, Weihai Chen, Jingmeng Liu & Jianbin Zhang. (2017) Design of a compliant joint actuator for lower-limb exoskeleton robot. Design of a compliant joint actuator for lower-limb exoskeleton robot.
Jatsun Sergey, Savin Sergei & Yatsun Andrey. (2016) Study of controlled motion of an exoskeleton performing obstacle avoidance during a single support walking phase. Study of controlled motion of an exoskeleton performing obstacle avoidance during a single support walking phase.
M. M. Moghadam, H. Shahi & A. Yousefi-Koma. (2015) An improvement on impedance control performance of an exoskeleton suit in the presence of uncertainty. An improvement on impedance control performance of an exoskeleton suit in the presence of uncertainty.
Kebin Yuan, Andrea Parri, Tingfang Yan, Long Wang, Marko Munih, Qining Wang & Nicola Vitiello. (2015) A realtime locomotion mode recognition method for an active pelvis orthosis. A realtime locomotion mode recognition method for an active pelvis orthosis.
Louis Flynn, Joost Geeroms, Rene Jimenez-Fabian, Bram Vanderborght, Nicola Vitiello & Dirk Lefeber. (2014) Ankle–knee prosthesis with active ankle and energy transfer: Development of the CYBERLEGs Alpha-Prosthesis. Robotics and Autonomous Systems.
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Kristel Knaepen, Pieter Beyl, Saartje Duerinck, Friso Hagman, Dirk Lefeber & Romain Meeusen. (2014) Human–Robot Interaction: Kinematics and Muscle Activity Inside a Powered Compliant Knee Exoskeleton. IEEE Transactions on Neural Systems and Rehabilitation Engineering 22:6, pages 1128-1137.
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Fu Cheng Cao & Xiao Xue Xing. (2014) Gait Analysis and Trajectory Planning for Lower Limb Rehabilitation Training. Applied Mechanics and Materials 672-674, pages 1940-1943.
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Fu Cheng Cao & Li Min Du. (2014) Gait Trajectory Planning Based on Least Squares Fitting - Polynomial for Lower Extremity Rehabilitation. Applied Mechanics and Materials 668-669, pages 1569-1572.
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Francesco Giovacchini, Federica Vannetti, Matteo Fantozzi, Marco Cempini, Mario Cortese, Andrea Parri, Tingfang Yan, Dirk Lefeber & Nicola Vitiello. (2014) A light-weight active orthosis for hip movement assistance. Robotics and Autonomous Systems.
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S. Jackson, L. Ellis, C. Lui, P. Molloy, K. Paterson, M. Chandrapal & X. Q. Chen. (2014) Development of an active powered biped lower limb exoskeleton. Development of an active powered biped lower limb exoskeleton.
Pieter Beyl, Michael Van Damme, Ronald Van Ham, Bram Vanderborght & Dirk Lefeber. (2014) Pleated Pneumatic Artificial Muscle-Based Actuator System as a Torque Source for Compliant Lower Limb Exoskeletons. IEEE/ASME Transactions on Mechatronics 19:3, pages 1046-1056.
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Gianni Castelli, Erika Ottaviano & Pierluigi Rea. (2014) A Cartesian Cable-Suspended Robot for improving end-users' mobility in an urban environment. Robotics and Computer-Integrated Manufacturing 30:3, pages 335-343.
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E M Bouhabba, A A Shafie, M R Khan & K Ariffin. (2013) Lower-Limb Rehabilitation Robot Design. IOP Conference Series: Materials Science and Engineering 53, pages 012038.
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B. Vanderborght, A. Albu-Schaeffer, A. Bicchi, E. Burdet, D.G. Caldwell, R. Carloni, M. Catalano, O. Eiberger, W. Friedl, G. Ganesh, M. Garabini, M. Grebenstein, G. Grioli, S. Haddadin, H. Hoppner, A. Jafari, M. Laffranchi, D. Lefeber, F. Petit, S. Stramigioli, N. Tsagarakis, M. Van Damme, R. Van Ham, L.C. Visser & S. Wolf. (2013) Variable impedance actuators: A review. Robotics and Autonomous Systems 61:12, pages 1601-1614.
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Andrea Calanca, Luca Capisani, Paolo Fiorini & Antonella Ferrara. (2013) Improving continuous approximation of Sliding Mode Control. Improving continuous approximation of Sliding Mode Control.
Dongjun Shin, Xiyang Yeh & Oussama Khatib. (2013) Circular Pulley Versus Variable Radius Pulley: Optimal Design Methodologies and Dynamic Characteristics Analysis. IEEE Transactions on Robotics 29:3, pages 766-774.
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B. Vanderborght, A. Bicchi, E. Burdet, D. Caldwell, R. Carloni, M. Catalano, G. Ganesh, M. Garabini, M. Grebenstein, S. Haddadin, M. Laffranchi, D. Lefeber, F. Petit, N. Tsagarakis, M. Van Damme, R. Van Ham, L. C. Visser & S. Wolf. (2012) Variable impedance actuators: Moving the robots of tomorrow. Variable impedance actuators: Moving the robots of tomorrow.
Jae Hoon Lee, Byung-Ju Yi & Ji Yeong Lee. (2012) Adjustable spring mechanisms inspired by human musculoskeletal structure. Mechanism and Machine Theory 54, pages 76-98.
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Ramses V. Martinez, Carina R. Fish, Xin Chen & George M. Whitesides. (2012) Elastomeric Origami: Programmable Paper-Elastomer Composites as Pneumatic Actuators. Advanced Functional Materials 22:7, pages 1376-1384.
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Garrett Waycaster, Sai-Kit Wu & Xiangrong Shen. (2011) Design and Control of a Pneumatic Artificial Muscle Actuated Above-Knee Prosthesis. Journal of Medical Devices 5:3.
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