Data-Driven Predictive Control of a Pneumatic Ankle Foot Orthosis
نویسندگان
چکیده
منابع مشابه
An ankle-foot orthosis powered by artificial pneumatic muscles.
We developed a pneumatically powered orthosis for the human ankle joint. The orthosis consisted of a carbon fiber shell, hinge joint, and two artificial pneumatic muscles. One artificial pneumatic muscle provided plantar flexion torque and the second one provided dorsiflexion torque. Computer software adjusted air pressure in each artificial muscle independently so that artificial muscle force ...
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Predicting the movements, ground reaction forces and neuromuscular activity during gait can be a valuable asset to the clinical rehabilitation community, both to understand pathology, as well as to plan effective intervention. In this work we use an optimal control method to generate predictive simulations of pathological gait in the sagittal plane. We construct a patient-specific model corresp...
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We constructed a powered ankle-foot orthosis for human walking with a novel myoelectric controller. The orthosis included a carbon fiber and polypropylene shell, a metal hinge joint, and two artificial pneumatic muscles. Soleus electromyography (EMG) activated the artificial plantar flexor and inhibited the artificial dorsiflexor. Tibialis anterior EMG activated the artificial dorsiflexor. We c...
متن کاملMechanical performance of artificial pneumatic muscles to power an ankle-foot orthosis.
We developed a powered ankle-foot orthosis that uses artificial pneumatic muscles to produce active plantar flexor torque. The purpose of this study was to quantify the mechanical performance of the orthosis during human walking. Three subjects walked at a range of speeds wearing ankle-foot orthoses with either one or two artificial muscles working in parallel. The orthosis produced similar tot...
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Pneumatic muscle is a new type of flexible actuator with advantages in terms of light weight, large output power/weight ratio, good security, low price and clean. In this paper, an ankle rehabilitation robot with two degrees of freedom driven by pneumatic muscle is studied. The force control method with an impedance controller in outer loop and a position inner loop is proposed. The demand of r...
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ژورنال
عنوان ژورنال: Advances in Electrical and Computer Engineering
سال: 2021
ISSN: 1582-7445,1844-7600
DOI: 10.4316/aece.2021.01007