Dynamically controlled ankle-foot orthosis (DCO) with regenerative kinetics: Incrementally attaining user portability

Joseph Hitt, A. Mehmet Oymagil, Thomas Sugar, Kevin Hollander, Alex Boehler, Jennifer Fleeger

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

55 Scopus citations

Abstract

A portable wearable robotic device that can actively supplement locomotion of partially limited ambulators in their normal environment (variable terrain, weather, man made structures, etc.) seems highly desirable but currently short of attainment due to several key technology gaps. Low energy and power density in current actuation technology, inadequate control schemes and safety of use are leading challenges towards a portable, complementary device. This paper presents the dynamically controlled ankle-foot orthosis (DCO) with regenerative kinetics which seek to incrementally attain portability by solving the energy/power density issue in powered elements by harnessing elastic energy of uniquely tuned mechanical elements and reducing the control problem and increasing safety by introducing compliant elements between the human-machine-environment interfaces.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1541-1546
Number of pages6
DOIs
Publication statusPublished - 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

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Keywords

  • Ankle-foot orthosis
  • Dynamic control
  • Power amplification
  • Power/energy density
  • Robotic tendon

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Hitt, J., Oymagil, A. M., Sugar, T., Hollander, K., Boehler, A., & Fleeger, J. (2007). Dynamically controlled ankle-foot orthosis (DCO) with regenerative kinetics: Incrementally attaining user portability. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1541-1546). [4209307] https://doi.org/10.1109/ROBOT.2007.363543