Resumen
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.
Título traducido de la contribución | Control de postura de una órtesis de rodilla robótica basada en controlador de admisión para asistencia de marcha |
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Idioma original | Inglés estadounidense |
Estado | Publicada - 1 oct. 2017 |
Evento | Simpósio Brasileiro de Automação Inteligente (SBAI 2017) - BR Duración: 1 oct. 2017 → 4 oct. 2017 https://www.ufrgs.br/sbai17/ |
Conferencia
Conferencia | Simpósio Brasileiro de Automação Inteligente (SBAI 2017) |
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Período | 1/10/17 → 4/10/17 |
Dirección de internet |
Palabras clave
- Footswitch
- Admitance control
- Gait cycle
Areas de Conocimiento del CACES
- 8315A Biomedicina