Experimental Implementation of Underactuated Potential Energy Shaping on a Powered Ankle-Foot Orthosis.

ABSTRACT: Traditional control methodologies of rehabilitation orthoses/exoskeletons aim at replicating normal kinematics and thus fall into the category of kinematic control. This control paradigm depends on pre-defined reference trajectories, which can be difficult to adjust between different locomotor tasks and human subjects. An alternative control category, kinetic control, enforces kinetic goals (e.g., torques or energy) instead of kinematic trajectories, which could provide a flexible learning environment for the user while freeing up therapists to make corrections. We propose that the theory of underactuated potential energy shaping, which falls into the category of kinetic control, could be used to generate virtual body-weight support for stroke gait rehabilitation. After deriv

SUBMITTER: Lv G 

PROVIDER: S-EPMC4932867 | biostudies-literature | 2016 May

REPOSITORIES: biostudies-literature