Ankle-Foot-Orthosis Control in Inclinations and Stairs

Svensson, Wolfgang; Holmberg, Ulf

doi:10.1109/ramech.2008.4681479

Cited by 33 publications

(27 citation statements)

References 19 publications

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“…Not only is the gait phase classification addressed, but some reported control strategies include a walking mode classification such as sitting, standing up, and walking [30]. In another work, the incline walking and ascending-descending stairs are also considered in the control strategy [56]. The implementation of a walking mode has a wider application for gait control.…”

Section: Input and Gait Phasesmentioning

confidence: 99%

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A Review on the Control of the Mechanical Properties of Ankle Foot Orthosis for Gait Assistance

et al. 2019

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In the past decade, advanced technologies in robotics have been explored to enhance the rehabilitation of post-stroke patients. Previous works have shown that gait assistance for post-stroke patients can be provided through the use of robotics technology in ancillary equipment, such as Ankle Foot Orthosis (AFO). An AFO is usually used to assist patients with spasticity or foot drop problems. There are several types of AFOs, depending on the flexibility of the joint, such as rigid, flexible rigid, and articulated AFOs. A rigid AFO has a fixed joint, and a flexible rigid AFO has a more flexible joint, while the articulated AFO has a freely rotating ankle joint, where the mechanical properties of the AFO are more controllable compared to the other two types of AFOs. This paper reviews the control of the mechanical properties of existing AFOs for gait assistance in post-stroke patients. Several aspects that affect the control of the mechanical properties of an AFO, such as the controller input, number of gait phases, controller output reference, and controller performance evaluation are discussed and compared. Thus, this paper will be of interest to AFO researchers or developers who would like to design their own AFOs with the most suitable mechanical properties based on their application. The controller input and the number of gait phases are discussed first. Then, the discussion moves forward to the methods of estimating the controller output reference, which is the main focus of this study. Based on the estimation method, the gait control strategies can be classified into subject-oriented estimations and phase-oriented estimations. Finally, suggestions for future studies are addressed, one of which is the application of the adaptive controller output reference to maximize the benefits of the AFO to users.

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Section: Input and Gait Phasesmentioning

confidence: 99%

“…The reading from a rotary encoder, combined with an accelerometer, can measure the threshold value for classifying the gait into three phases. The threshold indicates the beginning of each phase, as reported by Kikuchi et al [40] and Svenson et al [56]. A subject-oriented control strategy does not include the gait phases.…”

Section: Input and Gait Phasesmentioning

confidence: 99%

A Review on the Control of the Mechanical Properties of Ankle Foot Orthosis for Gait Assistance

et al. 2019

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“…Powered orthoses address these limitations through the combined use of sensors, actuators, and computer control to provide torque assistance and motion control for lower limb joints [7][8][9][10][11][12][13]. A specific example of a powered AFO is the portable powered ankle-foot orthosis (PPAFO), Fig.…”

Section: Introductionmentioning

confidence: 99%

Modeling, control, and analysis of a robotic assist device

Shorter

Hsiao-Wecksler

2012

Mechatronics

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“…Additionally, kinematic and kinetic data from motion capture systems and embedded sensors have been used for both direct performance comparisons and to calculate other parameters such as joint angles and moments for quantitative and qualitative device assessment (e.g., [2,4,5] [1,[6][7][8]). …”

Section: Introductionmentioning

confidence: 99%

Experimental evaluation of a portable powered ankle-foot orthosis

Shorter

Morris

et al. 2011

2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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Ankle-foot orthoses (AFOs) ameliorate the impact of impairments to the lower limb neuromuscular motor system that affect gait. Emerging technologies provide a vision for fully powered, untethered AFOs. The portable powered AFO (PPAFO) provides both plantarflexor and dorsiflexor torque assistance via a bi-directional pneumatic rotary actuator. The system uses a portable pneumatic power source (bottle of compressed CO(2)) and embedded electronics to control foot motion during level walking. Experimental data were collected to demonstrate functionality from two subjects with bilateral impairments to the lower legs. These data demonstrated the PPAFO's ability to provide functional assistance during gait. The stringent design requirements of light weight, small size, high efficiency and low noise make the creation of daily wear assist devices challenging; but once such devices appear, they will present new opportunities for clinical treatment of gait abnormalities.

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Ankle-Foot-Orthosis Control in Inclinations and Stairs

Cited by 33 publications

References 19 publications

A Review on the Control of the Mechanical Properties of Ankle Foot Orthosis for Gait Assistance

A Review on the Control of the Mechanical Properties of Ankle Foot Orthosis for Gait Assistance

Modeling, control, and analysis of a robotic assist device

Experimental evaluation of a portable powered ankle-foot orthosis

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