0

Full Content is available to subscribers

Subscribe/Learn More  >

Simulation and Experimental Analysis of a Portable Powered Ankle-Foot Orthosis Control

[+] Author Affiliations
Yifan Li, K. Alex Shorter, Elizabeth T. Hsiao-Wecksler, Timothy Bretl

University of Illinois at Urbana Champaign, Urbana, IL

Paper No. DSCC2011-6119, pp. 77-84; 8 pages
doi:10.1115/DSCC2011-6119
From:
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5475-4
  • Copyright © 2011 by ASME

abstract

A portable powered ankle-foot orthosis (PPAFO) was previously developed using off-the-shelf pneumatic components to explore new opportunities for fluid power in human assist devices. The untethered pneumatically powered ankle-foot orthosis provides both motion control and torque assistance at the ankle via a binary, event-based control scheme that uses solenoid valves. While stable, the binary actuation of the solenoid valves that results from this approach limits the overall performance of the system. This paper addresses the limitations of the current system using a modeling approach for both hardware and control design. Hardware and control configurations were first evaluated using simulations of the modeled PPAFO and shank-foot system during a simplified functional gait task: assistive propulsive torque during stance. These simulations demonstrated that the introduction of a proportional valve and new control architecture resulted in PPAFO performance improvements during the task. These results were then confirmed experimentally with the PPAFO attached to a physical model of a shank and foot.

Copyright © 2011 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In