Modified Adaptive Control of an Actuated Ankle Foot Orthosis to assist Paretic Patients
Modified Adaptive Control of an Actuated Ankle Foot Orthosis to assist Paretic Patients
复制标题
改进的驱动踝足矫形器自适应控制以帮助瘫痪患者
DOI：
10.1109/iros.2018.8594046
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
J. Gracies
中科院分区：
文献类型：
--
作者：
V. Arnez;H. Rifai;Y. Amirat;S. Mohammed;M. Ghédira;J. Gracies
本文研究了一种具有饱和比例微分（PD）作用的主动踝足矫形器（AAFO）的模型参考自适应控制，以辅助瘫痪患者的步态。与大多数经典的基于模型的控制器，所提出的控制器不需要任何事先估计系统的模型参数。AAFO系统由跨越踝关节的肌肉和AAFO致动器的扭矩传递的剩余人体扭矩主动驱动。踝关节参考轨迹基于穿戴者的自选步行速度在线更新。基于李雅普诺夫分析，证明了AAFO-穿戴者系统关于有界人体肌肉力矩的闭环输入-状态稳定性。实验结果，从一个健康受试者和一个轻瘫患者，在整个步态周期的跟踪性能和踝关节援助方面表现出令人满意的结果。
In this paper, a model reference adaptive control with saturated proportional derivative (PD) action for an active ankle foot orthosis (AAFO) to assist the gait of paretic patients, is studied. Unlike most classical model-based controllers, the proposed controller does not require any prior estimation of the system's model parameters. The AAFO system is actively driven by the residual human torque delivered by muscles spanning the ankle joint and the AAFO's actuator's torque. The ankle reference trajectory is updated online based on the self-selected walking speed of the wearer. The input-to-state stability of the AAFO-wearer system with respect to a bounded human muscular torque is proved in closed-loop based on a Lyapunov analysis. Experimental results, obtained from one healthy subject and one paretic patient, show satisfactory results in terms of tracking performance and ankle joint assistance throughout the full gait cycle.
DOI：
10.1007/978-1-4613-1193-5
发表时间：
2020-02
期刊：
Student Solution Manual for Differential
Equations: Techniques, Theory, and
Applications
影响因子：
--
作者：
Guanrong Chen
通讯作者：
Guanrong Chen