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Control Motion Approach of a Lower Limb Orthosis to Reduce Energy Consumption : Approccio di controllo di movimento per un ortosi di un arto inferiore per ridurre il consumo di energia, in: International Journal of Advanced Robotic Systems |
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General information |
| Author |
Sanz-Merodio, Daniel; Cestari, Manuel; Arevalo, Juan Carlos; Garcia, Elena |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
By analysing the dynamic principles of the
human gait, an economic gait‐control analysis is
performed, and passive elements are included to
increase the energy efficiency in the motion control of
active orthoses. Traditional orthoses use position
patterns from the clinical gait analyses (CGAs) of
healthy people, which are then de‐normalized and
adjusted to each user. These orthoses maintain a very
rigid gait, and their energy cost is very high, reducing
the autonomy of the user. First, to take advantage of the
inherent dynamics of the legs, a state machine pattern
with different gains in each state is applied to reduce the
actuator energy consumption. Next, different passive
elements, such as springs and brakes in the joints, are
analysed to further reduce energy consumption. After
an off‐line parameter optimization and a heuristic
improvement with genetic algorithms, a reduction in
energy consumption of 16.8% is obtained by applying a
state machine control pattern, and a reduction of 18.9%
is obtained by using passive elements. Finally, by
combining both strategies, a more natural gait is
obtained, and energy consumption is reduced by 24.6%
compared with a pure CGA pattern. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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