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

Conference paper

DOI: 10.1007/978-94-007-7183-3_14

Cite this paper as:
Veneva I., Ferreira N. (2014) Adaptive System for Control of Active Ankle-Foot Orthosis and Gait Analysis. In: Fonseca Ferreira N., Tenreiro Machado J. (eds) Mathematical Methods in Engineering. Springer, Dordrecht


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 

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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