Adaptive Control of an Actuated Ankle Foot Orthosis for Foot-Drop Correction

This paper deals with the control of an actuated-ankle-foot-orthosis (AAFO) intended to help foot-drop patients. The foot-AAFO system is driven by the human torque delivered by the muscles spanning the ankle joint and by the AAFO’s actuator’s torque. A model reference adaptive control is proposed to...

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Bibliographic Details
Published inIFAC-PapersOnLine Vol. 50; no. 1; pp. 1384 - 1389
Main Authors Arnez-Paniagua, Victor, Rifai, Hala, Mohammed, Samer, Amirat, Yacine
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.07.2017
Subjects
actuated ankle foot orthosis
Adaptive control
foot drop
rehabilitation
rehabilitation
Adaptive control
actuated ankle foot orthosis
foot drop
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ISSN2405-8963
2405-8963
DOI10.1016/j.ifacol.2017.08.237

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Summary:This paper deals with the control of an actuated-ankle-foot-orthosis (AAFO) intended to help foot-drop patients. The foot-AAFO system is driven by the human torque delivered by the muscles spanning the ankle joint and by the AAFO’s actuator’s torque. A model reference adaptive control is proposed to dorsiflex the foot during the swing phase. Unlike most classical model-based controllers, the proposed one does not require any prior estimation of the system’s (foot-AAFO) parameters. The ankle reference trajectory was extracted during gait activities of healthy subjects in a clinical environment. The input-to-state stability of the foot-AAFO system with respect to a bounded human muscular torque is proved in closed-loop based on Lyapunov analysis. Preliminary experimental results show satisfactory tracking performances of the reference trajectory within few steps. Furthermore, the muscular activities for the tibialis anterior (TA) and gastrocnemius (GA) muscles when wearing the AAFO were reduced by 30% and 12% respectively.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2017.08.237