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HIP-KNEE control for gait assistance with Powered Knee Orthosis

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journal contribution
posted on 2016-05-12, 11:36 authored by Wai-Yin Lai, Hao Ma, Wei-Hsin Liao, Daniel FongDaniel Fong, Kai-Ming Chan
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.

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 International Conference on Robotics and Biomimetics, ROBIO 2013

Pages

762 - 767

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.

Publisher

© IEEE

Version

  • 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

2013

Language

  • en

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