HIP-KNEE control for gait assistance with Powered Knee Orthosis
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AbstractA 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.
All Author(s) ListLai W.-Y., Ma H., Liao W.-H., Fong D.T.-P., Chan K.-M.
Name of Conference2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Start Date of Conference12/12/2013
End Date of Conference14/12/2013
Place of ConferenceShenzhen
Country/Region of ConferenceChina
Detailed descriptionorganized by IEEE,
Pages762 - 767
LanguagesEnglish-United Kingdom

Last updated on 2020-23-11 at 00:33