Optimizing Control of Passive Gait Training Exoskeleton Driven by Pneumatic Muscles Using Switch-Mode Firefly Algorithm

This paper presents a lower-limb exoskeleton that is actuated by pneumatic muscle actuators (PMAs). This exoskeleton system is composed of the mechanical structures, a treadmill, and a weight support system. With the cooperative work of the three parts, the system aims to assist either the elderly f...

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Bibliographic Details
Published in:	Robotica Vol. 37; no. 12; pp. 2087 - 2103
Main Authors:	Cao, Yu, Huang, Jian, Huang, Zhangbo, Tu, Xikai, Mohammed, Samer
Format:	Journal Article
Language:	English
Published:	Cambridge, UK Cambridge University Press 01.12.2019
Subjects:	Actuators Algorithms Computer Science Cooperative work Exoskeletons Gait Heuristic methods Mathematical models Muscles Optimization Parameters Rehabilitation Robotics Sliding mode control Support systems Training Treadmills Walking Switch-mode firefly algorithm Proxy-based sliding-mode control Lower-limb exoskeleton Pneumatic muscle actuator
ISSN:	0263-5747, 1469-8668
Online Access:	Get full text
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