ArticleCyborg and bionic systems (Washington, D.C.)2024
Adaptive Gait Training of a Lower Limb Rehabilitation Robot Based on Human-Robot Interaction Force Measurement.
Article in Cyborg and bionic systems (Washington, D.C.), 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 10 papers.
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Who cites it
10 citing papers in PubMed.
- Assessment of Gait Kinematics in the Sagittal Plane in Children with Cerebral Palsy Following Therapy with the PRODROBOT Gait Trainer.Sensors (Basel, Switzerland) · 2026Article
- Phase-Specific Biomechanical Reorganization After Robotic Rehabilitation in Patients with Stroke: A Sensor-Derived Waveform Analysis.Life (Basel, Switzerland) · 2026Article
- Sensor-Derived Trunk Stability and Gait Recovery: Evidence of Neuromechanical Associations Following Intensive Robotic Rehabilitation.Sensors (Basel, Switzerland) · 2026Article
- Continuous Lower Limb Biomechanics Prediction via Prior-Informed Lightweight Marker-GMformer.Cyborg and bionic systems (Washington, D.C.) · 2026Article
- A Single-Source Dual-Drive Flexible Knee Assistive Exoskeleton for Elderly Daily Locomotion.Cyborg and bionic systems (Washington, D.C.) · 2026Article
- Implementing ensemble of deep learning model with optimization techniques for human activity recognition to assist individuals with disabilities.Scientific reports · 2025Article
- Advanced bioactuator selection for efficient human motion simulation in biohybrid robots using CSF dynamic knowledge.Scientific reports · 2025Article
- A Survey on Design and Control Methodologies of High- Torque-Density Joints for Compliant Lower-Limb Exoskeleton.Sensors (Basel, Switzerland) · 2025Review
- Exploring New Tools in Upper Limb Rehabilitation After Stroke Using an Exoskeletal Aid: A Pilot Randomized Control Study.Healthcare (Basel, Switzerland) · 2025Article
- Multi-Exoskeleton Performance Evaluation: Integrated Muscle Energy Indices to Determine the Quality and Quantity of Assistance.Bioengineering (Basel, Switzerland) · 2024Article
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Authors and funding
5 authors.
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Abstract
The existing fixed gait lower limb rehabilitation robots perform a predetermined walking trajectory for patients, ignoring their residual muscle strength. To enhance patient participation and safety in training, this paper aims to develop a lower limb rehabilitation robot with adaptive gait training capability relying on human-robot interaction force measurement. Firstly, a novel lower limb rehabilitation robot system with several active and passive driven joints is developed, and 2 face-to-face mounted cantilever beam force sensors are employed to measure the human-robot interaction forces. Secondly, a dynamic model of the rehabilitation training robot is constructed to estimate the driven forces of the human lower leg in a completely passive state. Thereafter, based on the theoretical moment from the dynamics and the actual joint interaction force collected by the sensors, an adaptive gait adjustment method is proposed to achieve the goal of adapting to the wearer's movement intention. Finally, interactive experiments are carried out to validate the effectiveness of the developed rehabilitation training robot system. The proposed rehabilitation training robot system with adaptive gaits offers great potential for future high-quality rehabilitation training, e.g., improving participation and safety.
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