Computer control of a powered two degree freedom reciprocating gait orthosis.
The design of a motion control system for a powered reciprocating gait orthosis is considered. Models for the orthosis are obtained using least squares identification. The control system design is based on pole-placement techniques and a restricted Youla parametrization of the controller. Experimental results are included.
Nouri
Bashir M Y
BM
Department of Mechanical Engineering, Faculty of Engineering, An-Najah National University, Nablus, West Bank, Palestine. bashir_nouri@yahoo.com
Zaidan
Arafat
A
D000465:Algorithms; D003198:Computer Simulation; D005246:Feedback; D020233:Gait Disorders, Neurologic / Q000209:etiology / Q000534:rehabilitation*; D006801:Humans; D007866:Leg / Q000503:physiopathology*; D008954:Models, Biological; D009989:Orthotic Devices; D010264:Paraplegia / Q000150:complications / Q000534:rehabilitation*; D012371:Robotics / Q000379:methods*; D013813:Therapy, Computer-Assisted / Q000379:methods*