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

Quy Thinh Dao; Shinichirou Yamamoto

doi:10.1109/BMEiCON.2017.8229110

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
巻	2017-January
ISBN（電子版）	9781538608821
DOI	https://doi.org/10.1109/BMEiCON.2017.8229110
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 31 → 2017 9 2

Other

Other	10th Biomedical Engineering International Conference, BMEiCON 2017
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）

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10.1109/BMEiCON.2017.8229110

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引用スタイル

Dao, QT & 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, Institute of Electrical and Electronics Engineers Inc., pp. 1-5, 10th Biomedical Engineering International Conference, BMEiCON 2017, Hokkaido, Japan, 17/8/31. https://doi.org/10.1109/BMEiCON.2017.8229110

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title = "Tracking control of a robotic orthosis for gait rehabilitation: A feedforward-feedback control approach",

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.",

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

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