title: Experimental Implementation of Underactuated Potential Energy Shaping on a Powered Ankle-Foot Orthosis.
abstract: Traditional control methodologies of rehabilitation orthoses/exoskeletons aim at replicating normal kinematics and thus fall into the category ofkinematic control. This control paradigm depends on pre-defined reference trajectories, which can be difficult to adjust between different locomotor tasks and human subjects. An alternative control category,kinetic control, enforces kinetic goals (e.g., torques or energy) instead of kinematic trajectories, which could provide a flexible learning environment for the user while freeing up therapists to make corrections. We propose that the theory of underactuated potential energy shaping, which falls into the category of kinetic control, could be used to generate virtual body-weight support for stroke gait rehabilitation. After deriving the nonlinear control law and simulating it on a human-like biped model, we implemented this controller on a powered ankle-foot orthosis that was designed specifically for testing torque control strategies. Experimental results with an able-bodied human subject demonstrate the feasibility of the control approach for both positive and negative virtual body-weight augmentation.
authors.affiliation: Department of Electrical Engineering, University of Texas at Dallas, 800 W. Campbell Road, Richardson, TX 75080, USA.
authors.forename: Ge
authors.initials: G
authors.lastname: Lv
authors.affiliation: Department of Electrical Engineering, University of Texas at Dallas, 800 W. Campbell Road, Richardson, TX 75080, USA.
authors.forename: Hanqi
authors.initials: H
authors.lastname: Zhu
authors.affiliation: Department of Mechanical Engineering, University of Texas at Dallas, 800 W. Campbell Road, Richardson, TX 75080, USA.
authors.forename: Toby
authors.initials: T
authors.lastname: Elery
authors.affiliation: Department of Electrical Engineering, University of Texas at Dallas, 800 W. Campbell Road, Richardson, TX 75080, USA.
authors.forename: Luwei
authors.initials: L
authors.lastname: Li
authors.affiliation: Departments of Bioengineering and Mechanical Engineering, University of Texas at Dallas, 800 W. Campbell Road, Richardson, TX 75080, USA.
authors.forename: Robert D
authors.initials: RD
authors.lastname: Gregg