Design, implementation and test results of a robust control method for a powered ankle foot orthosis (AFO)

Alexander W. Boehler, Kevin W. Hollander, Thomas Sugar, Dosun Shin

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

43 Citations (Scopus)

Abstract

There are various methods to control a powered AFO. As different as they are in their approach each of them has certain advantages as well as difficulties. What is still needed is a robust control concept that meets the requirements for ankle gait assistance. A new, stiffness-control model has been developed that divides the stance phase of gait into five zones using either velocity or stiffness control for each zone. The design and implementation of this new control algorithm as well as some first test results are presented.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2025-2030
Number of pages6
DOIs
StatePublished - 2008
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: May 19 2008May 23 2008

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period5/19/085/23/08

Fingerprint

Robust control
Stiffness

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Boehler, A. W., Hollander, K. W., Sugar, T., & Shin, D. (2008). Design, implementation and test results of a robust control method for a powered ankle foot orthosis (AFO). In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2025-2030). [4543504] https://doi.org/10.1109/ROBOT.2008.4543504

Design, implementation and test results of a robust control method for a powered ankle foot orthosis (AFO). / Boehler, Alexander W.; Hollander, Kevin W.; Sugar, Thomas; Shin, Dosun.

Proceedings - IEEE International Conference on Robotics and Automation. 2008. p. 2025-2030 4543504.

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

Boehler, AW, Hollander, KW, Sugar, T & Shin, D 2008, Design, implementation and test results of a robust control method for a powered ankle foot orthosis (AFO). in Proceedings - IEEE International Conference on Robotics and Automation., 4543504, pp. 2025-2030, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, Pasadena, CA, United States, 5/19/08. https://doi.org/10.1109/ROBOT.2008.4543504
Boehler AW, Hollander KW, Sugar T, Shin D. Design, implementation and test results of a robust control method for a powered ankle foot orthosis (AFO). In Proceedings - IEEE International Conference on Robotics and Automation. 2008. p. 2025-2030. 4543504 https://doi.org/10.1109/ROBOT.2008.4543504
Boehler, Alexander W. ; Hollander, Kevin W. ; Sugar, Thomas ; Shin, Dosun. / Design, implementation and test results of a robust control method for a powered ankle foot orthosis (AFO). Proceedings - IEEE International Conference on Robotics and Automation. 2008. pp. 2025-2030
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