Ask your doctor how this would work. My physical therapist set me up with an AFO, the doctor had nothing to do with it except sign the order.
Proxy-based sliding mode control of a robotic ankle-foot system for post-stroke rehabilitation
- DOI:
- 10.1080/01691864.2016.1176601
- Received: 2 Oct 2015
- Accepted: 27 Mar 2016
- Published online: 04 May 2016
Robotic
platform-based ankle–foot rehabilitation systems have been proved
effective in treating joint spasticity and/or contracture of stroke
survivors. However, simple force or velocity limiters are not adequate,
since they cannot explicitly guarantee slow and overdamped motions
without overshoot. In this paper, we propose a proxy-based sliding mode
control (PSMC)-based approach, to avoid unsafe behaviors of a robotic
ankle–foot rehabilitation system. The proposed method has three
advantages: (1) without deteriorating tracking performance during normal
operation, it guarantees overdamped, slow, and safe recoveries after
abnormal events; (2) it provides a simple and accurate way to confine
the output torque exerted on the subject’s ankle; (3) though effective,
the control law avoids the necessity to identify the specific system
model or build state observer, which is usually difficult for
human–robot interaction system. A 71-year-old stroke patient and 10
able-bodied subjects were recruited for the experiments. Preliminary
studies comparing PSMC and PID are performed on trajectory tracking,
controlled torque output, slow and safe response under disturbance.
Additionally, by fulfilling the rehabilitation method and obtaining
biomechanical indicators, the proposed controller is proved to be
feasible for the system.
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