抄録
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.
本文言語 | English |
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ホスト出版物のタイトル | BMEiCON 2017 - 10th Biomedical Engineering International Conference |
出版社 | Institute of Electrical and Electronics Engineers Inc. |
ページ | 1-5 |
ページ数 | 5 |
巻 | 2017-January |
ISBN(電子版) | 9781538608821 |
DOI | |
出版ステータス | Published - 2017 12月 19 |
イベント | 10th Biomedical Engineering International Conference, BMEiCON 2017 - Hokkaido, Japan 継続期間: 2017 8月 31 → 2017 9月 2 |
Other
Other | 10th Biomedical Engineering International Conference, BMEiCON 2017 |
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国/地域 | Japan |
City | Hokkaido |
Period | 17/8/31 → 17/9/2 |
ASJC Scopus subject areas
- 健康情報学
- 器械工学
- 生体医工学
- 医学(その他)
- 健康(社会科学)