Control of a Regenerative Braking Powered Ankle Foot Orthosis

Oymagil, A.M.; Hitt, Joseph K.; Sugar, Thomas G.; Fleeger, J.

doi:10.1109/icorr.2007.4428402

Cited by 37 publications

(27 citation statements)

References 3 publications

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“…Oymagil et al [8] have developed a controller that adjusts a pattern only in its duration in time; however, there are limitations since the amount of plantarflexion varies with speed as well. For example, when walking slowly, less plantarflexion is needed.…”

Section: A Basic Nut Controlmentioning

confidence: 99%

A novel control algorithm for wearable robotics using phase plane invariants

Holgate

Sugar

Bohler

2009

2009 IEEE International Conference on Robotics and Automation

113

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With microprocessing power greatly increasing, hardware is no longer a hurdle in the development of controllers for wearable robotic systems, specifically lower limb robots. The challenge remains in developing smart algorithms that are able to detect which task a person is about to perform and then determine the correct desired movements for the robotic system. This paper reflects on four existing control algorithms for the task of level ground walking, and then presents theory and test results of a novel control algorithm based on phase plane invariants. The goal of this paper is to produce the correct motor reference command in a continuous fashion rather than based on determining distinct states for a given task.

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Section: A Basic Nut Controlmentioning

confidence: 99%

A novel control algorithm for wearable robotics using phase plane invariants

Holgate

Sugar

Bohler

2009

2009 IEEE International Conference on Robotics and Automation

113

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“…This is based on a linear series elastic actuator to assist ankle motion and it uses plantar sensors and potentiometers to detect the phases of gait. Similar designs have been presented for rehabilitation of SCI [11], or for knee motion assistance in healthy subjects to reduce the metabolic cost of locomotion [12]. Kawamoto and Sankai [13] developed the HAL (Hybrid Assistive Limb), an exoskeleton actuated by rotary motors, which is designed to assist the lower limbs of elderly people.…”

Section: Introductionmentioning

confidence: 95%

Simulation and design of an active orthosis for an incomplete spinal cord injured subject

et al. 2011

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“…Different control strategies have been utilized for the control of transtibial and transfemoral prosthetic devices. Control based on gait-pattern generators has been realized in [17], [12]. Motion intent recognition with position control is successfully implemented in [10].…”

Section: Introductionmentioning

confidence: 99%

Quadratic programming and impedance control for transfemoral prosthesis

Zhao

Kolathaya

Ames

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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This paper presents a novel optimal control strategy combining control Lyapunov function (CLF) based quadratic programs with impedance control, with the goal of improving both tracking performance and the stability of controllers implemented on transfemoral prosthesis. CLF based quadratic programs have the inherent capacity to optimally track a desired trajectory. This property is used in congruence with impedance control-implemented as a feedforward term-to realize significantly small tracking errors, while simultaneously yielding bipedal walking that is both stable and robust to disturbances. Moreover, instead of experimentally validating this on human subjects, a virtual prosthesis is attached to a robotic testbed, AMBER. The authors claim that the walking of AMBER is human like and therefore form a suitable substitute to human subjects on which a prosthetic control can be tested. Based on this idea, the proposed controller was first verified in simulation, then tested on the physical robot AMBER. The results indicate improved tracking performance, stability, and robustness to unknown disturbances.

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Control of a Regenerative Braking Powered Ankle Foot Orthosis

Cited by 37 publications

References 3 publications

A novel control algorithm for wearable robotics using phase plane invariants

A novel control algorithm for wearable robotics using phase plane invariants

Simulation and design of an active orthosis for an incomplete spinal cord injured subject

Quadratic programming and impedance control for transfemoral prosthesis

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