A robust control concept for robotic ankle gait assistance

Kevin W. Hollander, Thomas Sugar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 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 languageEnglish (US)
Title of host publication2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07
Pages119-123
Number of pages5
DOIs
StatePublished - Dec 1 2007
Event2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07 - Noordwijk, Netherlands
Duration: Jun 12 2007Jun 15 2007

Publication series

Name2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07

Other

Other2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07
CountryNetherlands
CityNoordwijk
Period6/12/076/15/07

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Hollander, K. W., & Sugar, T. (2007). A robust control concept for robotic ankle gait assistance. In 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07 (pp. 119-123). [4428416] (2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07). https://doi.org/10.1109/ICORR.2007.4428416