Ankle-foot orthoses (AFOs) are used to assist persons with lower-limb neuromuscular impairments. We have developed the portable powered AFO (PPAFO). This device uses a bidirectional pneumatic actuator powered by a CO2 bottle to provide dorsiflexor and plantarflexor torque assistance. The PPAFO operates tether-free, allowing for use outside of the laboratory. This system has been tested on one impaired and multiple healthy subjects. Timing of the assistance provided by the PPAFO has been determined by: 1) direct event detection using sensor feedback with threshold triggers, and 2) state estimation in which gait events are estimated using a cross-correlation based algorithm. Direct event detection, while simple to implement, can be unreliable for subjects with certain gait impairments. State estimation, while more complicated to implement, provides access to state information that cannot be directly measured by the AFO, which allows for greater flexibility in assistance timing. Current hardware limitations and future work are also discussed.
Skip Nav Destination
ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
October 31–November 2, 2011
Arlington, Virginia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5476-1
PROCEEDINGS PAPER
Actuation Timing Strategies for a Portable Powered Ankle Foot Orthosis
Emily A. Morris,
Emily A. Morris
University of Illinois, Urbana-Champaign, Urbana, IL
Search for other works by this author on:
K. Alex Shorter,
K. Alex Shorter
University of Illinois, Urbana-Champaign, Urbana, IL
Search for other works by this author on:
Yifan Li,
Yifan Li
University of Illinois, Urbana-Champaign, Urbana, IL
Search for other works by this author on:
Elizabeth T. Hsiao-Wecksler,
Elizabeth T. Hsiao-Wecksler
University of Illinois, Urbana-Champaign, Urbana, IL
Search for other works by this author on:
Geza F. Kogler,
Geza F. Kogler
Georgia Institute of Technology, Atlanta, GA
Search for other works by this author on:
Timothy Bretl,
Timothy Bretl
University of Illinois, Urbana-Champaign, Urbana, IL
Search for other works by this author on:
William K. Durfee
William K. Durfee
University of Minnesota, Minneapolis, MN
Search for other works by this author on:
Emily A. Morris
University of Illinois, Urbana-Champaign, Urbana, IL
K. Alex Shorter
University of Illinois, Urbana-Champaign, Urbana, IL
Yifan Li
University of Illinois, Urbana-Champaign, Urbana, IL
Elizabeth T. Hsiao-Wecksler
University of Illinois, Urbana-Champaign, Urbana, IL
Geza F. Kogler
Georgia Institute of Technology, Atlanta, GA
Timothy Bretl
University of Illinois, Urbana-Champaign, Urbana, IL
William K. Durfee
University of Minnesota, Minneapolis, MN
Paper No:
DSCC2011-6170, pp. 807-814; 8 pages
Published Online:
May 5, 2012
Citation
Morris, EA, Shorter, KA, Li, Y, Hsiao-Wecksler, ET, Kogler, GF, Bretl, T, & Durfee, WK. "Actuation Timing Strategies for a Portable Powered Ankle Foot Orthosis." Proceedings of the 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 2. Arlington, Virginia, USA. October 31–November 2, 2011. pp. 807-814. ASME. https://doi.org/10.1115/DSCC2011-6170
Download citation file:
6
Views
Related Proceedings Papers
Related Articles
High Accuracy Positioning in SCARA-Type Robot by Sensor-based Decoupling Control
J. Manuf. Sci. Eng (February,2000)
Modeling and Control Considerations for Powered Lower-Limb Orthoses: A Design Study for Assisted STS
J. Med. Devices (June,2007)
Passivity-Based Impact and Force Control of a Pneumatic Actuator
J. Dyn. Sys., Meas., Control (March,2008)
Related Chapters
Distributed Traffic State Estimation and Classification Using Consensus-Based Expectation Maximization Algorithm in Spatially Deployed Traffic Detectors
International Conference on Mechanical Engineering and Technology (ICMET-London 2011)
Feedback-Aided Minimum Joint Motion
Robot Manipulator Redundancy Resolution
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution