publication . Article . Other literature type . 2004

Adaptive control of a variable-impedance ankle-foot orthosis to assist drop-foot gait

Blaya, J.A.; Herr, H.;
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  • Published: 01 Mar 2004 Journal: IEEE Transactions on Neural Systems and Rehabilitation Engineering, volume 12, pages 24-31 (issn: 1534-4320, Copyright policy)
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Abstract
An active ankle-foot orthoses (AAFO) is presented where the impedance of the orthotic joint is modulated throughout the walking cycle to treat drop-foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two...
Subjects
Medical Subject Headings: body regionshuman activitiesmusculoskeletal diseases
free text keywords: General Neuroscience, Biomedical Engineering, Computer Science Applications, Gait, Physical medicine and rehabilitation, medicine.medical_specialty, medicine, Impedance control, Forefoot, Joint stiffness, medicine.symptom, Gait analysis, Ankle, medicine.anatomical_structure, Engineering, business.industry, business, Orthotics, Orthotic device, Physical therapy
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