SCKAFO, stance-control knee-ankle-foot orthosis, is a type of orthosis that permits free knee motion during swing while resisting knee flexion during stance, supporting thereby the limb during weight bearing. This orthosis specially assists patients who have incomplete spinal cord injury and allows them to walk with the aid of canes or crutches, maintaining a proper gait. In this paper, based on the human walking biomechanics, the SCKAFO hybrid modeling is proposed, which consists of eight different stages whose evolution is given by means of four planar sensors on each foot. In the model, it is considered that the patients can move their hip but not their knee that will be controlled using a DC motor. Two fractional order controllers are designed, following decision based control techniques, to control the knee angle. Simulation results are given in order to demonstrate the efficiency of the system performance.
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ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 28–31, 2011
Washington, DC, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
978-0-7918-5480-8
PROCEEDINGS PAPER
Hybrid Modeling and Fractional Control of a SCKAFO Orthosis for Gait Assistance Available to Purchase
S. Hassan HosseinNia,
S. Hassan HosseinNia
University of Extremadura, Badajoz, Spain
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Francisco Romero,
Francisco Romero
University of Extremadura, Badajoz, Spain
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Blas M. Vinagre,
Blas M. Vinagre
University of Extremadura, Badajoz, Spain
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Francisco Javier Alonso,
Francisco Javier Alonso
University of Extremadura, Badajoz, Spain
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Ines Tejado,
Ines Tejado
University of Extremadura, Badajoz, Spain
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Josep M. Font-Llagunes
Josep M. Font-Llagunes
Polytechnic University of Catalonia, Catalonia, Spain
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S. Hassan HosseinNia
University of Extremadura, Badajoz, Spain
Francisco Romero
University of Extremadura, Badajoz, Spain
Blas M. Vinagre
University of Extremadura, Badajoz, Spain
Francisco Javier Alonso
University of Extremadura, Badajoz, Spain
Ines Tejado
University of Extremadura, Badajoz, Spain
Josep M. Font-Llagunes
Polytechnic University of Catalonia, Catalonia, Spain
Paper No:
DETC2011-48175, pp. 385-393; 9 pages
Published Online:
June 12, 2012
Citation
HosseinNia, SH, Romero, F, Vinagre, BM, Alonso, FJ, Tejado, I, & Font-Llagunes, JM. "Hybrid Modeling and Fractional Control of a SCKAFO Orthosis for Gait Assistance." Proceedings of the ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B. Washington, DC, USA. August 28–31, 2011. pp. 385-393. ASME. https://doi.org/10.1115/DETC2011-48175
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