Human-inspired robotic exoskeleton (HuREx) for lower limb rehabilitation

Abstract

A robot exoskeleton which is inspired by the human musculoskeletal system has been developed for lower limb rehabilitation. The device was manufactured using a novel technique employing 3D printing and fiber reinforcement to make one-of-a-kind form fitting human-robot connections. Actuation of the exoskeleton is achieved using PMAs (pneumatic air muscles) and cable actuation to give the system inherent compliance while maintaining a very low mass. The entire system was modeled including a new hybrid model for PMAs. Simulation and experimental results for a force and impedance based trajectory tracking controller demonstrate the feasibility for using the HuREx system for gait and rehabilitation training.