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Design and control of a powered knee orthosis for gait assistance
conference contribution
posted on 2016-05-12, 11:02 authored by Hao Ma, Wai-Yin Lai, Wei-Hsin Liao, Daniel FongDaniel Fong, Kai-Ming ChanA powered knee orthosis named Assistive Knee Brace (AKB) is designed for the elderly and patients with knee dysfunctions to gain external support at their knee joints during gait. Safety, light-weight and user-friendly interface are the emphasis of system design. In the assistive controller design, gait analysis method based on Finite State Machine is developed for gait pattern estimation, with state estimated through fuzzy inference. Based on the gait pattern estimated online, reference gait pattern is generated as assistive control input of the powered knee orthosis to adjust the wearer's abnormal motion with torque support to track the normal pattern. To verify the assistive function of AKB, gait experiments under control are conducted on healthy subjects simulating certain limited mobility. Results show that with proper assistive torque from the AKB, wearers can perform motions in good patterns.
Funding
This work is supported by the Start-up Support Scheme, Shenzhen Research Institute, The Chinese University of Hong Kong.
History
School
- Sport, Exercise and Health Sciences
Published in
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013Pages
816 - 821Citation
MA, H. ... et al., 2013. Design and control of a powered knee orthosis for gait assistance. IN: Proceedings of 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, Wollongong, Australia, 9-12 July 2013, pp.816-821.Publisher
© IEEEVersion
- AM (Accepted Manuscript)
Publisher statement
This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/Publication date
2013ISBN
9781467353199ISSN
2159-6247Publisher version
Language
- en