Reconfigurable exoskeleton: enhanced rehabilitation and control efficiency Online publication date: Fri, 02-Feb-2024
by Jiayi Wen; Peiyi Zhu; Chengcheng Liu
International Journal of Simulation and Process Modelling (IJSPM), Vol. 20, No. 2, 2023
Abstract: Our work encompasses the modelling and simulation of dynamic inertia and centre of mass for a three-degree-of-freedom upper limb exoskeleton designed for hemiparetic rehabilitation. The exoskeleton can dynamically update its model based on the attached functional modules, supporting extended rehabilitation periods and promoting self-care for patients. To address the issue of the exoskeleton significantly affecting its inherent state, we propose a dynamic model that promptly updates inertia and centre of mass parameters. An adaptive controller using an RBF neural network is developed based on this model. Trajectory tracking simulation conducted in MATLAB show that the proposed model outperforms the traditional controller, offering a notable 17.46% improvement in control accuracy and a substantial 36.6% reduction in energy consumption. This research contributes to the advancement of rehabilitation exoskeletons, offering potential benefits in enhancing rehabilitation outcomes for patients with hemiplegia.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Simulation and Process Modelling (IJSPM):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook