Adaptive System for Control of Active Ankle-Foot Orthosis and Gait Analysis

  • Ivanka Veneva
  • Nuno Ferreira
Conference paper


The main aim of this research is the development of an autonomous adaptive system for actuation, data acquisition and control of active ankle-foot orthosis. In this paper the design of a control unit composed by microcontroller, driver and sensor system, and its application to the actuation and position of the foot orthotic segment is presented. The research work combines hardware and software design of the intelligent control device with graphical interface for representation and analysis of the data acquired during human motion. The dynamic system simulation is done in Matlab Simulink and SimMechanics.

A laboratory model of the proposed system was implemented to demonstrate its autonomy and verify experimentally its functionality.

The proposed control device can be used in several applications involving human motion analysis and control of different types of orthoses or functional electrical stimulation used for gait correction.


Control Active ankle-foot orthoses АТmega128 microcontroller Biomechanics Rehabilitation robotics 



This work is supported by the European Social Fund and Bulgarian Ministry of Education, Youth and Science under Operative Program “Human Resources Development”, Grant BG051PO001-3.3.04/40.


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  1. 1.Institute of MechanicsBulgarian Academy of SciencesSofiaBulgaria
  2. 2.Engineering Institute of CoimbraPolytechnic Institute of CoimbraCoimbraPortugal

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