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

Conference paper

Abstract

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.

Keywords

Control Active ankle-foot orthoses АТmega128 microcontroller Biomechanics Rehabilitation robotics 

References

  1. 1.
    Blaya JA, Herr H (2004) Adaptive control of a variable-impedance ankle-foot orthosis to assist drop-foot gait. IEEE Trans Neural Syst Rehabil Eng 12(1):24–31CrossRefGoogle Scholar
  2. 2.
    Kaneoko S, Yano H (1997) A new concept of dynamic orthosis for paraplegia: the weight bearing control (wbc) orthosis. Prosthet Orthot Int 221: 222–228Google Scholar
  3. 3.
    Veneva I (2007) Autonomous control system for gait analysis. In: Proceedings of the 9th international robotics conference (pp 230–236), Varna, BulgariaGoogle Scholar
  4. 4.
    Veneva I (2008) PID Control for active ankle-foot orthosis positioning. Edition Machine Union, Year XIV, vol 6, ISSN1310-3946, pp 52–57Google Scholar
  5. 5.
    Veneva I, Boiadjiev G (2008) Mathematical model of electromechanical controlled module in orthopedics. In: Proceedings of the 6th international conference on bionics and prosthetics, biomechanics and mechanics, mechatronics and robotics (pp 22–26), Varna, BulgariaGoogle Scholar
  6. 6.
    Veneva I, Toshev Y (2007) Control algorithm for ankle-foot orthosis and applications. In: Proceedings of the 9th international robotics conference (pp 225–230), Varna, BulgariaGoogle Scholar
  7. 7.
    Wasylewski N, Ruthenberg B (1997) An experimental device for investigating the force and power requirements of a powered gait orthosis. J Rehabil Res Dev 34:203–213Google Scholar

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

Personalised recommendations