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

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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルWorld Congress on Medical Physics and Biomedical Engineering
ホスト出版物のサブタイトルNeuroengineering, Neural Systems, Rehabilitation and Prosthetics
出版社Springer Verlag
ページ251-254
ページ数4
9
ISBN(印刷版)9783642038884
DOI
出版ステータスPublished - 2009
イベントWorld Congress on Medical Physics and Biomedical Engineering: Neuroengineering, Neural Systems, Rehabilitation and Prosthetics - Munich, Germany
継続期間: 2009 9 72009 9 12

出版物シリーズ

名前IFMBE Proceedings
番号9
25
ISSN(印刷版)1680-0737

Conference

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

ASJC Scopus subject areas

  • バイオエンジニアリング
  • 生体医工学

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