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

Sanz Merodio, Daniel and Cestari Soto, Manuel and Arévalo, Juan Carlos and 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.

Description

Title: Control motion approach of a lower limb orthosis to reduce energy consumption
Author/s:
  • Sanz Merodio, Daniel
  • Cestari Soto, Manuel
  • Arévalo, Juan Carlos
  • García Armada, Elena
Item Type: Article
Título de Revista/Publicación: International Journal of Advanced Robotic Systems
Date: October 2012
ISSN: 1729-8806
Volume: 9
Subjects:
Freetext Keywords: Lowerlimb Active Orthoses, Energy efficiency, Bipedal walking
Faculty: Centro de Automática y Robótica (CAR) UPM-CSIC
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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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 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.

More information

Item ID: 21264
DC Identifier: https://oa.upm.es/21264/
OAI Identifier: oai:oa.upm.es:21264
DOI: 10.5772/51903
Official URL: http://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems/control-motion-approach-of-a-lower-limb-orthosis-to-reduce-energy-consumption
Deposited by: Memoria Investigacion
Deposited on: 05 Nov 2013 20:29
Last Modified: 21 Apr 2016 11:25
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