Gait disorder is a commonly lasting side-effect for stroke and spinal cord injury survivors. Conventional gait rehabilitation trainings provided by therapists are largely dependent on their experience. Such trainings are often challenging for the therapists due to their physically intensive nature. Hence, consistent optimal results cannot always be achieved. Robotic technologies were thus introduced to automate the gait rehabilitation trainings, in order to emancipate therapists from physically intensive work as well as making rehabilitation training more accessible to patients Research have shown that task specific repetitive training and patients' active participation can lead to more effective gait rehabilitation. However, conventional trajectory tracking controlled robotic gait rehabilitation could change the dynamics of the walking task, reduce inputs from patients' motor systems, lower their physical effort and thus result less effective outcomes. Therefore, it is important to ensure that the robotic gait rehabilitation training is more analogous to actual human walking and maximize the training subject's active participation. The goal of this thesis is the development of a new robotic GAit Rehabilitation EXoskeleton (GAREX) that is compliant with the current neurorehabilitation theories in order to achieve optimised robotic gait rehabilitation. Such goal is tackled systematically in terms of both robotic design and control algorithm research. GAREX was designed to provide safe, task specific gait rehabilitation to stroke patients. Pneumatic muscles (PM) actuators were used to drive GAREX, due to their high power/force to weight ratio and intrinsic compliance. Specially, the intrinsic compliance can create a wide range of dynamic environment for control strategy development. However, the negative correlation between PM's force output and contracting length means a trade-off between torque and range of motion specifications of the actuation system. The design of GAREX comprehensively addressed torque and joint range of motion requirements imposed by task-specific gait rehabilitation training. Control strategies are the key to implement the training theories into robotic operations. In order to encourage patients' active participation, the robot should be controlled to supply just enough guidance/assistance a patient needs to complete treadmill based gait training. To implement assist-as-needed (AAN) concept, the robot should also be able to assess the extent of active participation and change the assistance provided accordingly. The intrinsic compliance of GAREX's PM actuation system could be utilized to change the level of guidance. A new multi-input-multi-output (MIMO) sliding model (SM) controller was developed to adjust assistance while guiding training subjects to walk in predefined gait trajectories. Technical experimental validation indicated that controller was able to track reference gait trajectories and the desired joint space average antagonistic PM pressures. A study with 12 healthy subjects revealed strong statistical evidence that the proposed MIMO SM controller is able to vary the compliance of the exoskeleton To online assess the training patient's active participation, a fuzzy logic compliance adaptation (FLCA) controller is proposed. The FLCA algorithm utilizes the robotic kinematics and human- exoskeleton interaction torque of the knee joint, to estimate the extent of the patient's active participation. Based on the estimation, the desired compliance level can be automatically adjusted with higher compliance for more active participation and vice versa. Nevertheless, the FLCA algorithm does not require models of the exoskeleton and biomechanics of the training subject, which means less preparation work and easier implementation. Performance of the FLCA control system was validated with three healthy subjects who simulated different extents of participation. The FLCA control system could successfully adapt the joint actuation compliance accordingly in all the scenarios.

This book addresses cutting-edge topics in robotics and related technologies for rehabilitation, covering basic concepts and providing the reader with the information they need to solve various practical problems. Intended as a reference guide to the application of robotics in rehabilitation, it covers e.g. musculoskeletal modelling, gait analysis, biomechanics, robotics modelling and simulation, sensors, wearable devices, and the Internet of Medical Things.

The concepts represented in this textbook are explored for the first time in assistive and rehabilitation robotics, which is the combination of physical, cognitive, and social human-robot interaction to empower gait rehabilitation and assist human mobility. The aim is to consolidate the methodologies, modules, and technologies implemented in lower-limb exoskeletons, smart walkers, and social robots when human gait assistance and rehabilitation are the primary targets. This book presents the combination of emergent technologies in healthcare applications and robotics science, such as soft robotics, force control, novel sensing methods, brain-computer interfaces, serious games, automatic learning, and motion planning. From the clinical perspective, case studies are presented for testing and evaluating how those robots interact with humans, analyzing acceptance, perception, biomechanics factors, and physiological mechanisms of recovery during the robotic assistance or therapy. Interfacing Humans and Robots for Gait Assistance and Rehabilitation will enable undergraduate and graduate students of biomedical engineering, rehabilitation engineering, robotics, and health sciences to understand the clinical needs, technology, and science of human-robot interaction behind robotic devices for rehabilitation, and the evidence and implications related to the implementation of those devices in actual therapy and daily life applications.

Neurologic injuries, such as stroke and spinal cord injuries (SCI), cause damage to neural systems and motor function, which results in lower limb impairment and gait disorders. Subjects with gait disorders require specific training to regain functional mobility. Traditionally, manual physical therapy is used for the gait training of neurologically impaired subjects which has limitations, such as the excessive workload and fatigue of physical therapists. The rehabilitation engineering community is working towards the development of robotic devices and control schemes that can assist during the gait training. The initial prototypes of these robotic gait training orthoses use conventional, industrial actuators that are either extremely heavy or have high endpoint impedance (stiffness). Neurologically impaired subjects often suffer from severe spasms. These stiff actuators may produce forces in response to the undesirable motions, often causing pain or discomfort to patients. The control schemes used by the initial prototypes of robotic gait training orthoses also have a limited ability to provide seamless, adaptive, and customized robotic assistance. This requires new design and control methods to be developed to increase the compliance and adaptability of these automated gait training devices. This research introduces the development of a new robotic gait training orthosis that is intrinsically compliant. Novel, assist-as-needed (AAN) control strategies are proposed to provide adaptive and customized robotic assistance to subjects with different levels of neurologic impairments. The new robotic gait training orthosis has six degrees of freedom (DOFs), which is powered by pneumatic muscle actuators (PMA). The device provides naturalistic gait pattern and safe interaction with subjects during gait training. New robust feedback control schemes are proposed to improve the trajectory tracking performance of PMAs. A dynamic model of the device and a human lower limb musculoskeletal model are established to study the dynamic interaction between the device and subjects. In order to provide adaptive, customized robot assisted gait training and to enhance the subject's voluntary participation in the gait training process, two new control schemes are proposed in this research. The first control scheme is based on the impedance control law. The impedance control law modifies the robotic assistance based on the human subject's active joint torque contributions. The levels of robot compliance can be selected by the physical therapist during the impedance control scheme according to the disability level and stage of rehabilitation of neurologically impaired subjects. The second control scheme is proposed to overcome the shortcomings of impedance control scheme and to provide seamless adaptive, AAN gait training. The adaptive, AAN gait training scheme is based on the estimation of the disability level of neurologically impaired subjects based on the kinematic error and adapts the robotic assistance accordingly. All the control schemes have been evaluated on neurologically intact subjects and the results show that these control schemes can deliver their intended effects. Rigorous clinical trials with neurologically impaired subjects are required to prove the therapeutic efficacy of the proposed robotic orthosis and the adaptive gait training schemes. The concept of intrinsically compliant robotic gait training orthosis, together with the trajectory tracking and impedance control of robotic gait training orthosis are the important contributions of this research. The algorithms and models developed in this research are applicable to the development of other robotic devices for rehabilitation and assistive purposes. The major contribution of the research lies in the development of a seamless, adaptive AAN gait training strategy. The research will help in evolving the field of compliant actuation of rehabilitation robots along with the development of new control schemes for providing seamless, adaptive AAN gait training.

This book discusses biologically inspired robotic actuators designed to offer improved robot performance and approaching human-like efficiency and versatility. It assesses biological actuation and control in the human motor system, presents a range of technical actuation approaches, and discusses potential applications in wearable robots, i.e., powered prostheses and exoskeletons. Gathering the findings of internationally respected researchers from various fields, the book provides a uniquely broad perspective on bioinspired actuator designs for robotics. Its scope includes fundamental aspects of biomechanics and neuromechanics, actuator and control design, and their application in (wearable) robotics. The book offers PhD students and advanced graduate students an essential introduction to the field, while providing researchers a cutting-edge research perspective.

Wearable Robotics: Systems and Applications provides a comprehensive overview of the entire field of wearable robotics, including active orthotics (exoskeleton) and active prosthetics for the upper and lower limb and full body. In its two major sections, wearable robotics systems are described from both engineering perspectives and their application in medicine and industry. Systems and applications at various levels of the development cycle are presented, including those that are still under active research and development, systems that are under preliminary or full clinical trials, and those in commercialized products. This book is a great resource for anyone working in this field, including researchers, industry professionals and those who want to use it as a teaching mechanism. Provides a comprehensive overview of the entire field, with both engineering and medical perspectives Helps readers quickly and efficiently design and develop wearable robotics for healthcare applications

The new technological advances opened widely the application field of robots. Robots are moving from the classical application scenario with structured industrial environments and tedious repetitive tasks to new application environments that require more interaction with the humans. It is in this context that the concept of Wearable Robots (WRs) has emerged. One of the most exciting and challenging aspects in the design of biomechatronics wearable robots is that the human takes a place in the design, this fact imposes several restrictions and requirements in the design of this sort of devices. The key distinctive aspect in wearable robots is their intrinsic dual cognitive and physical interaction with humans. The key role of a robot in a physical human–robot interaction (pHRI) is the generation of supplementary forces to empower and overcome human physical limits. The crucial role of a cognitive human–robot interaction (cHRI) is to make the human aware of the possibilities of the robot while allowing them to maintain control of the robot at all times. This book gives a general overview of the robotics exoskeletons and introduces the reader to this robotic field. Moreover, it describes the development of an upper limb exoskeleton for tremor suppression in order to illustrate the influence of a specific application in the designs decisions.

INTELLIGENT SYSTEMS FOR REHABILITATION ENGINEERING Encapsulates different case studies where technology can be used as assistive technology for the physically challenged, visually and hearing impaired. Rehabilitation engineering includes the development of technological solutions and devices to assist individuals with disabilities, while also supporting the recovery of the disabled who have lost their physical and cognitive functions. These systems can be designed and built to meet a wide range of needs that can help individuals with mobility, communication, vision, hearing, and cognition. The growing technological developments in machine learning, deep learning, robotics, virtual intelligence, etc., play an important role in rehabilitation engineering. Intelligent Systems for Rehabilitation Engineering focuses on trending research of intelligent systems in rehabilitation engineering which involves the design and development of innovative technologies and techniques including rehabilitation robotics, visual rehabilitation, physical prosthetics, brain computer interfaces, sensory rehabilitation, motion rehabilitation, etc. This groundbreaking book Provides a comprehensive reference covering different computer assistive techniques for the physically disabled, visually and hearing impaired. Focuses on trending research of intelligent systems in rehabilitation engineering which involves the design and development of innovative technologies and techniques. Provides insights into the role of intelligent systems in rehabilitation engineering. Audience Engineers and device manufacturers working in rehabilitation engineering as well as researchers in computer science, artificial intelligence, electronic engineering, who are working on intelligent systems.

Stroke is one of the leading cause of physical disability in New Zealand and many suffer paralysis to their limbs. Unfortunately, fewer than 50% of survivors regaining their independence after 6 months particularly due to the inability to walk properly. One of the reason for the slow recovery of the gait function is that the current rehabilitation technique used is labour intensive and time consuming for the therapists and difficult to perform it effectively. In order to improve the gait rehabilitation process, robot assisted gait rehabilitation has gained much interest over the past years. There have been many prototypes and commercial products for the robot assisted rehabilitation, but many had limitations. One of which is being bulky and had uncomfortable attachment for the patients. Improper attachment not only create uncomfortable feeling and pain for the patient but also causes human-robot axis misalignment which could lead to an injury with long term use. Another limitation is the lack of mechanical compliance which is the key to improve the safety of the operation and comfort for the patient. In order to address the limitations identified, a new robot orthosis, Human-inspired Robotic Exoskeleton (HuREx) was developed. HuREx consists of a compact exoskeleton parts custom fit for each individual patient manufactured using a rapid prototyping technique. Pneumatic Muscle Actuators (PMA) were used as they exhibit natural compliance and configured antagonistically. The design of the orthosis and the actuation mechanism made the system highly nonlinear. Therefore, an advanced model-based feedforward (FF) controller was designed and implemented to achieve the speed and accuracy of the response required. Many experiments were carried out to observe the performance and verify the proof of concept. The contributions of this research are the development of new robotic exoskeleton device designed to be light weight, comfortable and safe to use for gait rehabilitation for stroke patients, which were lacking in the existing devices. Another contribution is the establishment of new manufacturing technique that allow custom exoskeleton component for each individual patient. Finally the development of advanced model-based FF controller that achieves fast and accurate tracking performance.