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

Quy Thinh Dao, Shinichirou Yamamoto

研究成果: Conference contribution

5 被引用数 (Scopus)

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
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
2017-January
ISBN(電子版)9781538608821
DOI
出版ステータスPublished - 2017 12 19
イベント10th Biomedical Engineering International Conference, BMEiCON 2017 - Hokkaido, Japan
継続期間: 2017 8 312017 9 2

Other

Other10th Biomedical Engineering International Conference, BMEiCON 2017
国/地域Japan
CityHokkaido
Period17/8/3117/9/2

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)

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