Abstract
In this study, the trajectory tracking control problem of a 2 degrees of freedom robotic orthosis for the lower limb rehabilitation is discussed. The robotic orthosis is actuated by a pair of self-made pneumatic artificial muscles (PAMs) in an antagonistic configuration. A second order plus dead time (SOPDT) linear model is chosen for describing the antagonistic actuator behavior. In order to enhance the trajectory tracking performance, a modified feedforward-feedback control scheme which utilizes the known future information of the desired trajectory is employed. The effectiveness of the proposed strategy is verified by experiments in different gait cycles.
| Original language | English |
|---|---|
| Title of host publication | BMEiCON 2017 - 10th Biomedical Engineering International Conference |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1-5 |
| Number of pages | 5 |
| Volume | 2017-January |
| ISBN (Electronic) | 9781538608821 |
| DOIs | |
| Publication status | Published - 2017 Dec 19 |
| Event | 10th Biomedical Engineering International Conference, BMEiCON 2017 - Hokkaido, Japan Duration: 2017 Aug 31 → 2017 Sept 2 |
Other
| Other | 10th Biomedical Engineering International Conference, BMEiCON 2017 |
|---|---|
| Country/Territory | Japan |
| City | Hokkaido |
| Period | 17/8/31 → 17/9/2 |
Keywords
- antagonistic actuator
- feedforward-feedback
- Gait training device
- pneumatic artificial muscle
- robot orthosis
ASJC Scopus subject areas
- Health Informatics
- Instrumentation
- Biomedical Engineering
- Medicine (miscellaneous)
- Health(social science)