Design, implementation, and evaluation of a backstepping control algorithm for an active ankle–foot orthosis

Kirtas, Oguzhan; Savas, Yagiz; Bayraker, Melih; Başkaya, Faík; Baştürk, Halil İbrahim; Samur, Evren

doi:10.1016/j.conengprac.2020.104667

Cited by 14 publications

(15 citation statements)

References 20 publications

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“…Electric actuators were the most popular actuators deployed in the reviewed PAEs. They were powered by on-board battery packs [37,41,56,57,61,[65][66][67][76][77][78][79][80][81][82][83][84]86,87,94,[100][101][102]112,113,115,[118][119][120]126,127,130,144,145,[156][157][158][159][160][172][173][174][175]177,184,187,189,234,235], DC off-board power supply units [10,…”

Section: Low-level Control and Machine-machine Sensorsmentioning

confidence: 99%

“…Brushed DC Motors Yes [234,235] No [67] Brushless DC Motors Yes [130] No [10,54,55,[59][60][61]136,152,153,188,207] Not Specified [236] Servo DC Motors No [137] Electric Motors (Type Not Specified) Yes [206] No [205] Dielectric Elastomer Polyimide Fibers Yes [94] PAEs are nonlinear systems highly subject to a variety of disturbances and uncertainties from the environment and the human user. The complex dynamics of the system and parameter perturbations make the control problem challenging in PAEs.…”

Section: Series Elasticmentioning

confidence: 99%

“…Cable/rope tension Tension sensor [53,182] force sensor [57] load cell [39,58,69,[108][109][110][122][123][124][125][126][127][128][129]180,183,204] strain gauge [72,113,181] Mechanical deflection Potentiometer [10,55,67,108,110,137,146,153,176] encoder [206,207,236] Pressure Pressure sensor [62,63,146,156,158,166,171,173,176,232] Pneumatic muscle force Load cell [11,38,49,50,…”

Section: Measured Parameter Sensormentioning

confidence: 99%

“…Phase-based control algorithms aim to track a desired ankle joint torque or angular movement based on the user’s gait phase and kinematic states, measured by a variety of mechanically intrinsic wearable sensors [ 10 , 37 , 38 , 39 , 40 , 41 , 43 , 49 , 53 , 54 , 55 , 56 , 57 , 58 , 59 , 60 , 61 , 62 , 63 , 64 , 65 , 66 , 67 , 68 , 69 , 70 , 71 , 72 , 73 , 74 , 75 , 76 , 77 , 78 , 79 , 80 , 81 , 82 , 83 , 84 , 85 , 86 , 87 , 88 , 89 , 90 , 91 , 92 , 93 , 94 , 95 , 96 ,…”

Section: Sensor Technologies Used In Control Hierarchy Of the Paesmentioning

confidence: 99%

“…Electric actuators were the most popular actuators deployed in the reviewed PAEs. They were powered by on-board battery packs [ 37 , 41 , 56 , 57 , 61 , 65 , 66 , 67 , 76 , 77 , 78 , 79 , 80 , 81 , 82 , 83 , 84 , 86 , 87 , 94 , 100 , 101 , 102 , 112 , 113 , 115 , 118 , 119 , 120 , 126 , 127 , 130 , 144 , 145 , 156 , 157 , 158 , 159 , 160 , 172 , 173 , 174 , 175 , 177 , 184 , 187 , 189 , 234 , 235 ], DC off-board power supply units [ 10 , 39 , 109 , 116 ...…”

Section: Sensor Technologies Used In Control Hierarchy Of the Paesmentioning

confidence: 99%

See 4 more Smart Citations

Application of Wearable Sensors in Actuation and Control of Powered Ankle Exoskeletons: A Comprehensive Review

kian

Widanapathirana

Joseph

et al. 2022

Sensors

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Powered ankle exoskeletons (PAEs) are robotic devices developed for gait assistance, rehabilitation, and augmentation. To fulfil their purposes, PAEs vastly rely heavily on their sensor systems. Human–machine interface sensors collect the biomechanical signals from the human user to inform the higher level of the control hierarchy about the user’s locomotion intention and requirement, whereas machine–machine interface sensors monitor the output of the actuation unit to ensure precise tracking of the high-level control commands via the low-level control scheme. The current article aims to provide a comprehensive review of how wearable sensor technology has contributed to the actuation and control of the PAEs developed over the past two decades. The control schemes and actuation principles employed in the reviewed PAEs, as well as their interaction with the integrated sensor systems, are investigated in this review. Further, the role of wearable sensors in overcoming the main challenges in developing fully autonomous portable PAEs is discussed. Finally, a brief discussion on how the recent technology advancements in wearable sensors, including environment—machine interface sensors, could promote the future generation of fully autonomous portable PAEs is provided.

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Section: Low-level Control and Machine-machine Sensorsmentioning

confidence: 99%

Section: Series Elasticmentioning

confidence: 99%

Section: Measured Parameter Sensormentioning

confidence: 99%

Section: Sensor Technologies Used In Control Hierarchy Of the Paesmentioning

confidence: 99%

Section: Sensor Technologies Used In Control Hierarchy Of the Paesmentioning

confidence: 99%

See 3 more Smart Citations

Application of Wearable Sensors in Actuation and Control of Powered Ankle Exoskeletons: A Comprehensive Review

kian

Widanapathirana

Joseph

et al. 2022

Sensors

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show abstract

Foot trajectory following control of hexapod robot based on Udwadia–Kalaba theory

et al. 2023

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This paper provides an adaptive robust control strategy for foot trajectory following control of hexapod robot on basis of the Udwadia-Kalaba theory. In this paper, the foot trajectory following control problem of the hexapod robot is transformed into the problem of solving the system control constraint force on basis of the Udwadia-Kalaba theory. Compared with the traditional control strategy, linearization or approximations are not required by using the Udwadia-Kalaba theory for nonlinear system such as the hexapod robot. Due to modeling error, measurement error and the change of working state, the system may have non-ideal initial conditions, vibration interference and other uncertain factors during operation, which affect the control accuracy. An adaptive robust controller is designed for solving uncertainties. Meanwhile, the stability is analyzed by using the second method of Lyapunov function. Finally, the accuracy and stability of the control method proposed are verified by establishing the leg model of the hexapod robot and conducting simulation analysis. The simulation results show that the provided adaptive control process has faster error convergence speed and response speed compared with traditional PID control method.

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Active neck orthosis for musculoskeletal cervical disorders rehabilitation using a parallel mini-robotic device

Lozano

Ballesteros

Cruz-Ortiz

et al. 2022

Control Engineering Practice

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Design, implementation, and evaluation of a backstepping control algorithm for an active ankle–foot orthosis

Cited by 14 publications

References 20 publications

Application of Wearable Sensors in Actuation and Control of Powered Ankle Exoskeletons: A Comprehensive Review

Application of Wearable Sensors in Actuation and Control of Powered Ankle Exoskeletons: A Comprehensive Review

Foot trajectory following control of hexapod robot based on Udwadia–Kalaba theory

Active neck orthosis for musculoskeletal cervical disorders rehabilitation using a parallel mini-robotic device

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