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Ankle-Foot-Orthosis Control in Inclinations and Stairs
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), Halmstad Embedded and Intelligent Systems Research (EIS), Intelligent systems (IS-lab).
Halmstad University, School of Information Science, Computer and Electrical Engineering (IDE), Halmstad Embedded and Intelligent Systems Research (EIS), Intelligent systems (IS-lab).
2008 (English)In: 2008 IEEE Conference on Robotics, Automation and Mechatronics, Piscataway, N.J.: IEEE Press, 2008, p. 301-306Conference paper, Published paper (Refereed)
Abstract [en]

A control procedure is proposed for an ankle-footorthosis (AFO) for different gait situations, such as inclinations and stairs. This paper presents a novel AFO control of the ankle angle. A magneto-rheological damper was used to achieve ankle damping during foot down and locking at swing, thereby avoiding foot slap as well as foot drop.

The controller used feedback from the ankle angle only. Still it was capable of not only adjusting damping within a gait step but also changing control behavior depending on level walking, ascending and descending stairs. As a consequence, toe strike was possible in stair gait as opposed to heel strike in level walking.

Tests verified the expected behavior in stair gait and in level walking where gait speed and ground inclinations varied. The self-adjusted AFO is believed to improve gait comfort in slopes and stairs.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2008. p. 301-306
Keywords [en]
gait control, orthosis, stair walking, magneto-rheological damper
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:hh:diva-2128DOI: 10.1109/RAMECH.2008.4681479ISI: 000269060400158Scopus ID: 2-s2.0-58049120348Local ID: 2082/2523ISBN: 978-1-4244-1676-9 OAI: oai:DiVA.org:hh-2128DiVA, id: diva2:239346
Conference
Robotics, Automation and Mechatronics, 2008 IEEE Conference on, Chengdu, PEOPLES Rep. CHINA, 21-24 Sept. 2008
Note

©2008 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

Available from: 2008-11-12 Created: 2008-11-12 Last updated: 2018-03-23Bibliographically approved

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Svensson, WolfgangHolmberg, Ulf

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CiteExportLink to record
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