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Title: HIP-KNEE control for gait assistance with Powered Knee Orthosis
Authors: Lai, Wai-Yin
Ma, Hao
Liao, Wei-Hsin
Fong, Daniel Tik-Pui
Chan, Kai-Ming
Keywords: Orthosis
Knee joint
Elderly people
Issue Date: 2013
Publisher: © IEEE
Citation: LAI, W. ... et al., 2013. HIP-KNEE control for gait assistance with Powered Knee Orthosis. IN: Proceedings of 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO 2013), Shenzhen, China, 12-14 December 2013, pp.762-767.
Abstract: A Powered Knee Orthosis (PKO) was developed for the elderly and patients with disordered gait to regain normal walking. In order to enhance the PKO performance and reduce system complexity especially for people with muscle weakness in their knee joints, an algorithm named HIP-KNEE control is proposed. This algorithm is based on the analysis of kinematic gait model, and the desired knee joint angle (KNEE) is estimated from the measurements of hip joint angle (HIP). The relationship between HIP and KNEE is modeled as a polynomial, which can be easily implemented to an embedded controller for real-time control. This control method is suitable to subjects with good function in hip joint, and it can provide help in walking without special training. An Inertia Measurement Units (IMU) is used for obtaining HIP input, and integrated with a footswitch for checking the heel condition; the gait assistance performance can be further improved.
Sponsor: This work is supported by the Start-up Support Scheme, Shenzhen Research Institute, The Chinese University of Hong Kong.
Version: Accepted for publication
DOI: 10.1109/ROBIO.2013.6739554
URI: https://dspace.lboro.ac.uk/2134/21200
Publisher Link: http://dx.doi.org/10.1109/ROBIO.2013.6739554
Appears in Collections:Conference Papers and Presentations (Sport, Exercise and Health Sciences)

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