Title :
Development of control model for intelligently controllable ankle-foot orthosis
Author :
Kikuchi, Takashi ; Tanida, Sousuke ; Yasuda, Toshiyuki ; Fujikawa, Takamitsu
Author_Institution :
Grad. Sch. of Sci. & Eng., Yamagata Univ., Yamagata, Japan
Abstract :
We have developed an intelligently controllable ankle-foot orthosis (i-AFO). In this paper, we formulated a new control method for the i-AFO. In the method the sensor system of the i-AFO estimates walking speed of user and decide optimal drop speed of foot at the duration between initial contact and foot flat. We conducted the pretest for eight healthy subjects to make a control rule for the drop speed. Then we conducted the modeling test for one patient to make an estimation rule for walking speed. Finally we conducted the evaluation test for the proposed method. Despite the walking speed estimation show errors, the i-AFO successfully controlled the foot motion depending on the gait states.
Keywords :
gait analysis; medical control systems; orthotics; control model development; evaluation test; foot flat; foot motion; gait states; intelligently controllable ankle-foot orthosis; modeling test; optimal drop speed; sensor system; walking speed estimation; Angular velocity; Conferences; Foot; Joints; Legged locomotion; Sensor systems; Torque;
Conference_Titel :
Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE
Conference_Location :
Osaka
DOI :
10.1109/EMBC.2013.6609504