Distributed control of an electrically powered hip orthosis

This paper describes the provisional control system and architecture used for a powered orthosis, designed to assist in the rehabilitation of those having a lower limb disability. The device consists of a jointed support frame to which are attached two direct drive electrical actuators, providing assistance with hip motion. Each actuator has its own micro control unit, these in turn being networked to a central microcontroller providing overall control. The flexibility inherent in this scheme will allow for the possible implementation of various modes of operation, including ultimately an adaptive capability which will allow the users´ performance to be continuously monitored with the controller´s parameters made suitably compliant. The initial control schemes and the anticipated future control requirements are discussed.