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

Y. Shibata, Motoki Takagi, T. Miyoshi, Shinichirou 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 publicationIFMBE Proceedings
Pages251-254
Number of pages4
Volume25
Edition9
DOIs
Publication statusPublished - 2009
EventWorld Congress on Medical Physics and Biomedical Engineering: Neuroengineering, Neural Systems, Rehabilitation and Prosthetics - Munich
Duration: 2009 Sep 72009 Sep 12

Other

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

Fingerprint

Actuators
Feedback
Pneumatic actuators
Control systems
Feedback control
Stiffness
Networks (circuits)

Keywords

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

ASJC Scopus subject areas

  • Biomedical Engineering
  • Bioengineering

Cite this

Development of the gait training system controlled by pressure feed-back. / Shibata, Y.; Takagi, Motoki; Miyoshi, T.; Yamamoto, Shinichirou.

IFMBE Proceedings. Vol. 25 9. ed. 2009. p. 251-254.

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

Shibata, Y, Takagi, M, Miyoshi, T & Yamamoto, S 2009, Development of the gait training system controlled by pressure feed-back. in IFMBE Proceedings. 9 edn, vol. 25, pp. 251-254, World Congress on Medical Physics and Biomedical Engineering: Neuroengineering, Neural Systems, Rehabilitation and Prosthetics, Munich, 09/9/7. https://doi.org/10.1007/978-3-642-03889-1-67
Shibata, Y. ; Takagi, Motoki ; Miyoshi, T. ; Yamamoto, Shinichirou. / Development of the gait training system controlled by pressure feed-back. IFMBE Proceedings. Vol. 25 9. ed. 2009. pp. 251-254
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