A new ankle foot orthosis: Modeling and control
| Author | Gmerek, A. |
| Author | Davoodi, M. |
| Author | Meskin, N. |
| Author | Sobhani Tehrani, E. |
| Author | Kearney, R.E. |
| Available date | 2020-09-17T11:12:40Z |
| Publication Date | 2017 |
| Publication Name | 2017 4th International Conference on Control, Decision and Information Technologies, CoDIT 2017 |
| Resource | Scopus |
| Abstract | This paper studies the derivation of kinematic and dynamic models of a newly developed active ankle foot orthosis (AFO) that was designated for testing gait-assistive compliance control algorithms. The AFO is characterized with a closed-loop chain structure and powered by a linear ServoTube motor making it very fast and responsive. The paper first derives kinematic and dynamic models for the AFO. Then, a torque controller is developed based on the dynamic model of the AFO and it is shown that the AFO is able to track the position and velocity of the desired trajectory with a satisfactory accuracy. 1 2017 IEEE. |
| Language | en |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Subject | Exoskeletons Orthotic Devices Foot Orthoses |
| Type | Conference |
| Pagination | 1066-1071 |
| Volume Number | 2017-January |
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Electrical Engineering [2813 items ]