A robust control concept for robotic ankle gait assistance

Kevin W. Hollander; Thomas Sugar

doi:10.1109/ICORR.2007.4428416

A robust control concept for robotic ankle gait assistance

Kevin W. Hollander, Thomas Sugar

Mechanical and Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Scopus citations

Abstract

Previously we have developed lightweight and efficient, spring based actuators. The Robotic Tendon actuator is one such device. Testing of the earlier devices have shown good results both theoretically and experimentally in their implementation to human gait assistance. The current development is focused on a robust control methodology to support the Robotic Tendon device. This study has concluded that the stance phase of gait can be broken into five distinct zones in order to dictate controller behavior. Simulated control of these five zones have shown that simple velocity control and stiffness control meet the requirements necessary for to bust gait assistance.

Original language	English (US)
Title of host publication	2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07
Pages	119-123
Number of pages	5
DOIs	https://doi.org/10.1109/ICORR.2007.4428416
State	Published - 2007
Event	2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07 - Noordwijk, Netherlands Duration: Jun 12 2007 → Jun 15 2007

Publication series

Name	2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07

Other

Other	2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07
Country/Territory	Netherlands
City	Noordwijk
Period	6/12/07 → 6/15/07

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/ICORR.2007.4428416

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Hollander, KW & Sugar, T 2007, A robust control concept for robotic ankle gait assistance. in 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07., 4428416, 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07, pp. 119-123, 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07, Noordwijk, Netherlands, 6/12/07. https://doi.org/10.1109/ICORR.2007.4428416

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AB - Previously we have developed lightweight and efficient, spring based actuators. The Robotic Tendon actuator is one such device. Testing of the earlier devices have shown good results both theoretically and experimentally in their implementation to human gait assistance. The current development is focused on a robust control methodology to support the Robotic Tendon device. This study has concluded that the stance phase of gait can be broken into five distinct zones in order to dictate controller behavior. Simulated control of these five zones have shown that simple velocity control and stiffness control meet the requirements necessary for to bust gait assistance.

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A robust control concept for robotic ankle gait assistance

Abstract

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