Tracking control of a robotic orthosis for gait rehabilitation: A feedforward-feedback control approach

Quy Thinh Dao, Shinichirou Yamamoto

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

4 Citations (Scopus)

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 languageEnglish
Title of host publicationBMEiCON 2017 - 10th Biomedical Engineering International Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-5
Number of pages5
Volume2017-January
ISBN (Electronic)9781538608821
DOIs
Publication statusPublished - 2017 Dec 19
Event10th Biomedical Engineering International Conference, BMEiCON 2017 - Hokkaido, Japan
Duration: 2017 Aug 312017 Sep 2

Other

Other10th Biomedical Engineering International Conference, BMEiCON 2017
CountryJapan
CityHokkaido
Period17/8/3117/9/2

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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)

Cite this

Dao, Q. T., & Yamamoto, S. (2017). Tracking control of a robotic orthosis for gait rehabilitation: A feedforward-feedback control approach. In BMEiCON 2017 - 10th Biomedical Engineering International Conference (Vol. 2017-January, pp. 1-5). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/BMEiCON.2017.8229110