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Data-Driven Predictive Control of a Pneumatic Ankle Foot OrthosisULKIR, O.   , AKGUN, G. , NASAB, A. , KAPLANOGLU, E. |
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Author keywords
rehabilitation assistance, ankle-foot orthosis, subspace identification, PID, data-driven predictive control
References keywords
foot(25), control(25), ankle(23), orthosis(22), design(12), systems(10), rehabilitation(8), predictive(7), active(7), driven(6)
Blue keywords are present in both the references section and the paper title.
About this article
Date of Publication: 2021-02-28
Volume 21, Issue 1, Year 2021, On page(s): 65 - 74
ISSN: 1582-7445, e-ISSN: 1844-7600
Digital Object Identifier: 10.4316/AECE.2021.01007
Web of Science Accession Number: 000624018800007
SCOPUS ID: 85102782699
Abstract
We present the design and control of a pneumatic ankle-foot orthosis (P-AFO) device powered via bi-directional pneumatic rotary actuator and a pneumatic artificial muscle for rehabilitation assistance and treatment of neuromuscular disorders. The rotary actuator and the pneumatic muscle assist with dorsiflexion and plantar flexion, respectively. The prototype is also equipped with simple sensor system for gait pattern analysis. The P-AFO has the capability of 20 degrees dorsiflexion from the plantar flexion and 12 degrees dorsiflexion from the neutral position of an ankle joint. The data-driven predictive control (DDPC) algorithm has been designed for P-AFO to follow desired gait cycle trajectories while rectifying the nonlinearity and uncertainties of the pneumatic actuators. The design of DDPC is realized from the subspace identification matrices acquired by the input-output values obtained as a result of an open-loop operation. The control structure is completely data-based without certain use of a model in the control implementation. In order to control the developed P-AFO prototype device, the suggested controller was implemented in a real-time operating system. Experimental studies are performed to compare the proposed controller with a three-term controller (PID) in trajectory tracking of the P-AFO. |
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Faculty of Electrical Engineering and Computer Science
Stefan cel Mare University of Suceava, Romania
All rights reserved: Advances in Electrical and Computer Engineering is a registered trademark of the Stefan cel Mare University of Suceava. No part of this publication may be reproduced, stored in a retrieval system, photocopied, recorded or archived, without the written permission from the Editor. When authors submit their papers for publication, they agree that the copyright for their article be transferred to the Faculty of Electrical Engineering and Computer Science, Stefan cel Mare University of Suceava, Romania, if and only if the articles are accepted for publication. The copyright covers the exclusive rights to reproduce and distribute the article, including reprints and translations.
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Disclaimer: Whilst every effort is made by the publishers and editorial board to see that no inaccurate or misleading data, opinions or statements appear in this journal, they wish to make it clear that all information and opinions formulated in the articles, as well as linguistic accuracy, are the sole responsibility of the author.
