Title :
Design and Control of Pneumatically-Powered Gait Orthosis
Author :
Zhou Shenghao ; Song Jinchun
Author_Institution :
Sch. of Mech. Eng. & Autom., Northeastern Univ., Shenyang, China
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;
Conference_Titel :
Bioinformatics and Biomedical Engineering, (iCBBE) 2011 5th International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-5088-6
DOI :
10.1109/icbbe.2011.5780305
