Development of the gait training system controlled by pressure feed-back

Y. Shibata, M. Takagi, T. Miyoshi, S. Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The purpose of this study is to develop a gait training system for elderly and disabled people. The developed gait training system comprises a long-leg brace with trunk support and is driven by pneumatic Mckibben actuators. The gait training system developed in our previous study was controlled by an open-loop circuit. In this study, we attempted to develop a feedback control system which referred difference between inner pressures of actuators set up in an antagonistic arrangement. This system, however, was unable to represent completely natural human walking because the feedback parameter did not include hip and knee joint angle information. We then used a control method wherein the difference between the inner pressures of the agonistic and antagonistic Mckibben actuators was used as the input data and a proportional directional control valve was used to simultaneously activate the actuators. This control method increased the stiffness of the hip and knee joints of the orthosis. Thus, we successfully developed an inner pressure difference control system to drive a gait training system.

Original languageEnglish
Title of host publicationWorld Congress on Medical Physics and Biomedical Engineering
Subtitle of host publicationNeuroengineering, Neural Systems, Rehabilitation and Prosthetics
Pages251-254
Number of pages4
Edition9
DOIs
Publication statusPublished - 2009 Dec 1
EventWorld Congress on Medical Physics and Biomedical Engineering: Neuroengineering, Neural Systems, Rehabilitation and Prosthetics - Munich, Germany
Duration: 2009 Sep 72009 Sep 12

Publication series

NameIFMBE Proceedings
Number9
Volume25
ISSN (Print)1680-0737

Conference

ConferenceWorld Congress on Medical Physics and Biomedical Engineering: Neuroengineering, Neural Systems, Rehabilitation and Prosthetics
CountryGermany
CityMunich
Period09/9/709/9/12

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Keywords

  • Agonist and antagonist
  • Gait training
  • Mckibben actuator
  • Pressure feedback control

ASJC Scopus subject areas

  • Bioengineering
  • Biomedical Engineering

Cite this

Shibata, Y., Takagi, M., Miyoshi, T., & Yamamoto, S. (2009). Development of the gait training system controlled by pressure feed-back. In World Congress on Medical Physics and Biomedical Engineering: Neuroengineering, Neural Systems, Rehabilitation and Prosthetics (9 ed., pp. 251-254). (IFMBE Proceedings; Vol. 25, No. 9). https://doi.org/10.1007/978-3-642-03889-1-67