Control of a Biomimetic “Softactuated” 10DoF （10自由度控制仿生u201CSoftactuatedu201D）.pdfVIP

Control of a Biomimetic “Soft-actuated” 10DoF Lower Body Exoskeleton Nelson Costa†, Darwin G. Caldwell Centref or Advanced Robotics Research Depa rtment of Compu ting, Science and Engineering – University of Salford, M5 4 WT, United Kingdom Phone: +44 161 2954010 – FAX +44 161 2955145 – E-mail: d.g.caldwell@eee.salford.ac.uk Abstract: The successf ul motor rehabilitation of stroke, extremely labour intensive. In addition, the treatment can traumatic brain/sp inal cord/spo rt inj ured pa tients be highly variable from therapists to therapist and requires a highly intensive and task-sp ecific therapy throughout the day due to fatigue and the training and based approach. Significant budget, time and logistic rehabilitation activities place extreme physical strain on constraints limits a direct hand-to-hand therapy the patient with the effort required leading to low levels of approach, so that intelligent assistive machines may offe r compliance. All this must be achieved in an area with an a solution to p romote motor recovery and obtain a better international shortage of staff with appropriate training understanding of human motor control. [3]. This pap er will address the development of a lower limb This paper will present a unique wearable exoskeleton exoskeleton legs f or f orce augmentation and active as an intelligent assistive training device showing how the assistive walking training. The twin wearable legs are pneumatic Muscle Actuators (pMAs) can emulate much po wered by Pneumatic Muscle Actuators (pMAs) , an of the action of natural muscle. The desig