HIP-KNEE control for gait assistance with Powered Knee Orthosis
Refereed conference paper presented and published in conference proceedings


摘要A Powered Knee Orthosis (PKO) was developed for the elderly and patients with disordered gait to regain normal walking. In order to enhance the PKO performance and reduce system complexity especially for people with muscle weakness in their knee joints, an algorithm named HIP-KNEE control is proposed. This algorithm is based on the analysis of kinematic gait model, and the desired knee joint angle (KNEE) is estimated from the measurements of hip joint angle (HIP). The relationship between HIP and KNEE is modeled as a polynomial, which can be easily implemented to an embedded controller for real-time control. This control method is suitable to subjects with good function in hip joint, and it can provide help in walking without special training. An Inertia Measurement Units (IMU) is used for obtaining HIP input, and integrated with a footswitch for checking the heel condition; the gait assistance performance can be further improved. © 2013 IEEE.
著者Lai W.-Y., Ma H., Liao W.-H., Fong D.T.-P., Chan K.-M.
會議名稱2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
詳細描述organized by IEEE,
頁次762 - 767

上次更新時間 2020-22-10 於 01:00