Design and Control of Pneumatically-Powered Gait Orthosis

Author

Zhou Shenghao ; Song Jinchun

Author_Institution

Sch. of Mech. Eng. & Autom., Northeastern Univ., Shenyang, China

fYear

2011

fDate

10-12 May 2011

Firstpage

1

Lastpage

4

Abstract

The article presented the modeling and control of a pneumatically-powered gait orthosis (PPGO). According to the mechanism of exoskeleton structure of pneumatic gait training device and pneumatic proportional system, an appropriate nonlinear process model was derived. In order to provide assistance as needed for supporting patient´s locomotion, a predictive fuzzy control (PFC) method was proposed based on the nonlinear dynamic model. This control algorithm is to evaluate the variables of PPGO based on fuzzy inference mechanism. The experiment of locomotion has been done to verify the effectiveness of proposed controller on the experimental setup of a pneumatically-powered gait orthosis.

Keywords

fuzzy reasoning; gait analysis; orthotics; pneumatic control equipment; predictive control; exoskeleton structure; fuzzy inference mechanism; nonlinear process model; patient locomotion; pneumatic gait training device; pneumatic proportional system; pneumatically-powered gait orthosis; predictive fuzzy control; Actuators; Exoskeletons; Legged locomotion; Mathematical model; Training; Valves;

fLanguage

English

Publisher

ieee

Conference_Titel

Bioinformatics and Biomedical Engineering, (iCBBE) 2011 5th International Conference on

Conference_Location

Wuhan

ISSN

2151-7614

Print_ISBN

978-1-4244-5088-6

Type

conf

DOI

10.1109/icbbe.2011.5780305

Filename

5780305