Control motion approach of a lower limb orthosis to reduce energy consumption

Sanz Merodio, Daniel; Cestari Soto, Manuel; Arévalo, Juan Carlos y García Armada, Elena (2012). Control motion approach of a lower limb orthosis to reduce energy consumption. "International Journal of Advanced Robotic Systems", v. 9 ; pp. 1-8. ISSN 1729-8806. https://doi.org/10.5772/51903.

Descripción

Título: Control motion approach of a lower limb orthosis to reduce energy consumption
Autor/es:
  • Sanz Merodio, Daniel
  • Cestari Soto, Manuel
  • Arévalo, Juan Carlos
  • García Armada, Elena
Tipo de Documento: Artículo
Título de Revista/Publicación: International Journal of Advanced Robotic Systems
Fecha: Octubre 2012
Volumen: 9
Materias:
Palabras Clave Informales: Lowerlimb Active Orthoses, Energy efficiency, Bipedal walking
Escuela: Centro de Automática y Robótica (CAR) UPM-CSIC
Departamento: Otro
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

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 eachstate 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.

Más información

ID de Registro: 21264
Identificador DC: http://oa.upm.es/21264/
Identificador OAI: oai:oa.upm.es:21264
Identificador DOI [BETA]: 10.5772/51903
URL Oficial: http://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems/control-motion-approach-of-a-lower-limb-orthosis-to-reduce-energy-consumption
Depositado por: Memoria Investigacion
Depositado el: 05 Nov 2013 20:29
Ultima Modificación: 21 Abr 2016 11:25
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