TY - GEN
T1 - Development of the gait training system controlled by pressure feed-back
AU - Shibata, Y.
AU - Takagi, M.
AU - Miyoshi, T.
AU - Yamamoto, S.
PY - 2009/12/1
Y1 - 2009/12/1
N2 - 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.
AB - 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.
KW - Agonist and antagonist
KW - Gait training
KW - Mckibben actuator
KW - Pressure feedback control
UR - http://www.scopus.com/inward/record.url?scp=77950424919&partnerID=8YFLogxK
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U2 - 10.1007/978-3-642-03889-1-67
DO - 10.1007/978-3-642-03889-1-67
M3 - Conference contribution
AN - SCOPUS:77950424919
SN - 9783642038884
T3 - IFMBE Proceedings
SP - 251
EP - 254
BT - World Congress on Medical Physics and Biomedical Engineering
T2 - World Congress on Medical Physics and Biomedical Engineering: Neuroengineering, Neural Systems, Rehabilitation and Prosthetics
Y2 - 7 September 2009 through 12 September 2009
ER -