Adaptive Oscillator-Based Assistive Torque Control for Gait Asymmetry Correction With a nSEA-Driven Hip Exoskeleton

• Published in: IEEE transactions on neural systems and rehabilitation engineering Vol. 30; pp. 2906 - 2915
• Main Authors: Qian, Yuepeng, Yu, Haoyong, Fu, Chenglong
• Format: Journal Article
• Language: English
• Published: New York IEEE 2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Adaptive control; Asymmetry; Exoskeleton; Exoskeletons; Force; Gait; gait asymmetry; Hip; hip exoskeleton; Impairment; Legged locomotion; Oscillators; Patients; Quality of life; Rehabilitation robotics; series elastic actuator (SEA); Springs; Stroke; Stroke (medical condition); Torque; Torque control; Treadmills

Gait asymmetry is an important clinical characteristic of the hemiplegic gait most stroke survivors suffered, leading to restricted functional mobility and long-term negative impact on their quality of life. In recent years, robot assistance has been proven able to improve stroke patients' func...