Design and Validation of a Two-Degree-of-Freedom Powered Ankle-Foot Orthosis with Two Pneumatic Artificial Muscles

• Published in: Mechatronics (Oxford) Vol. 72; p. 102469
• Main Authors: Choi, Ho Seon, Lee, Chang Hee, Baek, Yoon Su
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.12.2020
• Subjects: Balance training; Pneumatic artificial muscle (PAM); Powered ankle-foot orthosis (PAFO); Sliding mode control; Subtalar joint; ADC; FTS; Subtalar joint; PVM; Pneumatic artificial muscle (PAM); P-btnc; RoM; COMCoP; FFT; PJMc; EMG; PAFO; CC; FSR; Pavg; θavg; 2-D; 3-D; RMSE; Balance training; Sliding mode control; SEA; Powered ankle-foot orthosis (PAFO); dof; P-bc; PAM

•The subtalar joint is an important part of balance training.•System design and validation were proposed for a 2-df PAFO.•Spatial formulas for the talocrural and subtalar joints were calculated and added.•For precise control, a sliding mode control for a nonlinear system of PAM was used.•Kinematics,...