TY - GEN
T1 - Design, implementation and test results of a robust control method for a powered ankle foot orthosis (AFO)
AU - Boehler, Alexander W.
AU - Hollander, Kevin W.
AU - Sugar, Thomas
AU - Shin, Dosun
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=51649115384&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51649115384&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543504
DO - 10.1109/ROBOT.2008.4543504
M3 - Conference contribution
AN - SCOPUS:51649115384
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2025
EP - 2030
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -