Modulation of anticipatory postural adjustments of gait using a portable powered ankle-foot orthosis.
Modulation of anticipatory postural adjustments of gait using a portable powered ankle-foot orthosis.
复制标题
使用便携式动力踝足矫形器调节步态的预期姿势。
DOI：
10.1109/icorr.2013.6650450
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
Hsiao-Wecksler,ElizabethT
中科院分区：
文献类型：
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作者：
Petrucci,MatthewN;MacKinnon,ColumD;Hsiao-Wecksler,ElizabethT
便携式动力踝足矫形器（PPAFO）已被设计用于步态辅助。PPAFO可以使用双向气动致动器在跖屈和背屈时在踝关节处提供辅助扭矩。已经开发了两种控制方案来调节步态周期不同阶段期间辅助扭矩的定时。直接事件（DE）控制器使用脚跟和脚趾力传感器来检测使用特定事件（例如，脚跟着地和脚尖离地）。状态估计（SE）控制器从训练数据中找出实时传感器数据和参考模型之间的最小平方误差，以估计步态状态并基于该估计检测相位。还实施了气动再循环计划，以提高燃料效率。该方案从跖屈排气中再生能量以驱动背屈致动。本研究的目的是评估这两个控制器和气动回收计划的燃料效率，作为衡量的燃料消耗和工作输出。数据收集自5名健康年轻对照受试者使用PPAFO进行的3分钟步行试验。SE与再循环（SER）方案相比，SE控制方案的平均燃料节省25%，DE控制器相比，平均燃料节省24%。SER控制器允许与SE控制器相当的净功输出，SE控制器都比DE控制器做更多的净功。这些观察结果可以适用于其他便携式流体动力矫形器，假肢和机器人控制器的选择和能量再生对燃料消耗的潜在影响。
A Portable Powered Ankle-Foot Orthosis (PPAFO) has been designed for gait assistance. The PPAFO can supply assistive torque at the ankle joint in plantarflexion and dorsiflexion using a bidirectional pneumatic actuator. Two control schemes have been developed to regulate timings of the assistive torques during different phases in the gait cycle. The Direct Event (DE) controller uses heel and toe force sensors to detect the start and end of key phases using specific events (e.g., heel strike and toe-off). The State Estimation (SE) controller finds the least-square-error between real-time sensor data and a reference model from training data to estimate the gait state and to detect phases based on this estimate. A pneumatic recycling scheme for improved fuel efficiency was also implemented. This scheme regenerates energy from plantarflexion exhaust gas to power dorsiflexion actuation. The objective of this study was to assess the fuel efficiency of these two controllers and pneumatic recycling scheme, as measured by fuel consumption and work output. Data were collected from 3 minute walking trials with the PPAFO by five healthy young control subjects. The SE with recycling (SER) scheme had an average fuel savings of 25% compared to the SE control scheme, and 24% compared to the DE controller. The SER controller allowed for comparable net work output to the SE controller which both did more net work than the DE controller. These observations can be applicable to other portable fluid-powered orthotics, prosthetics, and robotics in terms of potential impact of controller choice and energy regeneration on fuel consumption.