Abstract
Stance control to assist the knee joint of people with mobility limitations can be implemented at a robotic orthosis using impedance/admittance controllers, which requires methods to obtain a smooth blockunblock of the knee joint during the gait cycle. This work proposes an admittance controller for a knee active orthosis, which adjusts impedance and damping parameters based on gait velocity and gait phases. The system was validated in volunteers and the results show good recognition of the gait phases and smooth adjustment of knee impedance. The modulation of the admittance parameters can be adjusted, and this orthosis can be adapted for cases with gait asymmetries.
Translated title of the contribution | Control de postura de una órtesis de rodilla robótica basada en controlador de admisión para asistencia de marcha |
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Original language | English (US) |
State | Published - 1 Oct 2017 |
Event | Simpósio Brasileiro de Automação Inteligente (SBAI 2017) - BR Duration: 1 Oct 2017 → 4 Oct 2017 https://www.ufrgs.br/sbai17/ |
Conference
Conference | Simpósio Brasileiro de Automação Inteligente (SBAI 2017) |
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Period | 1/10/17 → 4/10/17 |
Internet address |
Keywords
- Footswitch
- Admitance control
- Gait cycle
CACES Knowledge Areas
- 8315A Biomedicine