Optimizing Control of Passive Gait Training Exoskeleton Driven by Pneumatic Muscles Using Switch-Mode Firefly Algorithm

• Published in: Robotica Vol. 37; no. 12; pp. 2087 - 2103
• Main Authors: Cao, Yu, Huang, Jian, Huang, Zhangbo, Tu, Xikai, Mohammed, Samer
• Format: Journal Article
• Language: English
• Published: Cambridge, UK Cambridge University Press 01.12.2019
• Subjects: Actuators; Algorithms; Computer Science; Cooperative work; Exoskeletons; Gait; Heuristic methods; Mathematical models; Muscles; Optimization; Parameters; Rehabilitation; Robotics; Sliding mode control; Support systems; Training; Treadmills; Walking; Switch-mode firefly algorithm; Proxy-based sliding-mode control; Lower-limb exoskeleton; Pneumatic muscle actuator

This paper presents a lower-limb exoskeleton that is actuated by pneumatic muscle actuators (PMAs). This exoskeleton system is composed of the mechanical structures, a treadmill, and a weight support system. With the cooperative work of the three parts, the system aims to assist either the elderly f...