Stance-control of a Robotic Knee Orthosis Based on Admittance Controller for Gait Assistance

Ana Cecilia Villa Parra; Thomaz Botelho; Denis Delisle Rodriguez; Anselmo Frizera Neto; Teodiano Freire Bastos Filho

Stance-control of a Robotic Knee Orthosis Based on Admittance Controller for Gait Assistance

Ana Cecilia Villa Parra
, Thomaz Botelho
, Denis Delisle Rodriguez
, Anselmo Frizera Neto
, Teodiano Freire Bastos Filho

Grupo de Investigación en Ingeniería Biomédica (GIIB)

Research output: Paper

Abstract

El control de la postura para asistir la articulación de la rodilla en personas con movilidad reducida puede implementarse en una ortesis robótica mediante controladores de impedancia/admitancia, lo que requiere métodos para lograr un bloqueo y desbloqueo suaves de la articulación durante el ciclo de la marcha. Este trabajo propone un controlador de admitancia para una ortesis activa de rodilla que ajusta los parámetros de impedancia y amortiguamiento en función de la velocidad y las fases de la marcha. El sistema se validó en voluntarios y los resultados muestran un buen reconocimiento de las fases de la marcha y un ajuste suave de la impedancia de la rodilla. La modulación de los parámetros de admitancia es ajustable, y esta ortesis puede adaptarse a casos con asimetrías en la marcha.

Translated title of the contribution	Control de postura de una órtesis de rodilla robótica basada en controlador de admisión para asistencia de marcha
Original language	English (US)
Publication status	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)
Period	1/10/17 → 4/10/17
Internet address	https://www.ufrgs.br/sbai17/

Areas de Conocimiento del CACES

8315A Biomedicina

Cite this

@conference{e3790288e51447d799c4718844ca5371,

title = "Stance-control of a Robotic Knee Orthosis Based on Admittance Controller for Gait Assistance",

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.",

keywords = "Admitance control, Footswitch, Gait cycle, Admitance control, Footswitch, Gait cycle",

author = "\{Villa Parra\}, \{Ana Cecilia\} and Thomaz Botelho and \{Delisle Rodriguez\}, Denis and \{Frizera Neto\}, Anselmo and \{Bastos Filho\}, \{Teodiano Freire\}",

year = "2017",

month = oct,

day = "1",

language = "English (US)",

note = "Simp{\'o}sio Brasileiro de Automa{\c c}{\~a}o Inteligente (SBAI 2017) ; Conference date: 01-10-2017 Through 04-10-2017",

url = "https://www.ufrgs.br/sbai17/",

}

TY - CONF

T1 - Stance-control of a Robotic Knee Orthosis Based on Admittance Controller for Gait Assistance

AU - Villa Parra, Ana Cecilia

AU - Botelho, Thomaz

AU - Delisle Rodriguez, Denis

AU - Frizera Neto, Anselmo

AU - Bastos Filho, Teodiano Freire

PY - 2017/10/1

Y1 - 2017/10/1

N2 - 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.

AB - 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.

KW - Admitance control

KW - Footswitch

KW - Gait cycle

KW - Admitance control

KW - Footswitch

KW - Gait cycle

UR - https://www.sba.org.br/Proceedings/SBAI/SBAI2017/SBAI17/papers/paper_386.pdf

M3 - Paper

T2 - Simpósio Brasileiro de Automação Inteligente (SBAI 2017)

Y2 - 1 October 2017 through 4 October 2017

ER -

Stance-control of a Robotic Knee Orthosis Based on Admittance Controller for Gait Assistance

Abstract

Conference

Areas de Conocimiento del CACES

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