|1/2021 - 7|
Data-Driven Predictive Control of a Pneumatic Ankle Foot OrthosisULKIR, O. , AKGUN, G. , NASAB, A. , KAPLANOGLU, E.
|View the paper record and citations in|
|Click to see author's profile in SCOPUS, IEEE Xplore, Web of Science|
|Download PDF (1,450 KB) | Citation | Downloads: 605 | Views: 741|
rehabilitation assistance, ankle-foot orthosis, subspace identification, PID, data-driven predictive control
foot(25), control(25), ankle(23), orthosis(22), design(12), systems(10), rehabilitation(8), predictive(7), active(7), driven(6)
Blue keywords are present in both the references section and the paper title.
About this article
Date of Publication: 2021-02-28
Volume 21, Issue 1, Year 2021, On page(s): 65 - 74
ISSN: 1582-7445, e-ISSN: 1844-7600
Digital Object Identifier: 10.4316/AECE.2021.01007
Web of Science Accession Number: 000624018800007
SCOPUS ID: 85102782699
We present the design and control of a pneumatic ankle-foot orthosis (P-AFO) device powered via bi-directional pneumatic rotary actuator and a pneumatic artificial muscle for rehabilitation assistance and treatment of neuromuscular disorders. The rotary actuator and the pneumatic muscle assist with dorsiflexion and plantar flexion, respectively. The prototype is also equipped with simple sensor system for gait pattern analysis. The P-AFO has the capability of 20 degrees dorsiflexion from the plantar flexion and 12 degrees dorsiflexion from the neutral position of an ankle joint. The data-driven predictive control (DDPC) algorithm has been designed for P-AFO to follow desired gait cycle trajectories while rectifying the nonlinearity and uncertainties of the pneumatic actuators. The design of DDPC is realized from the subspace identification matrices acquired by the input-output values obtained as a result of an open-loop operation. The control structure is completely data-based without certain use of a model in the control implementation. In order to control the developed P-AFO prototype device, the suggested controller was implemented in a real-time operating system. Experimental studies are performed to compare the proposed controller with a three-term controller (PID) in trajectory tracking of the P-AFO.
|References|||||Cited By «-- Click to see who has cited this paper|
| A. Dogan, M. Mengulluoglu, N. Ozgirgin, "Evaluation of the effect of ankle-foot orthosis use on balance and mobility in hemiparetic stroke patients," European Journal of Physical and Rehabilitation Medicine, vol. 33, no. 15-16, pp. 1433-1439, 2011. |
[CrossRef] [Web of Science Times Cited 58] [SCOPUS Times Cited 70]
 P. R. G. Lucareli, M. D. O. Lima, J. G. D. A. Lucarelli, F. P. S. Lima, "Changes in joint kinematics in children with cerebral palsy while walking with and without a floor reaction ankle-foot orthosis," Clinics, vol. 62, no. 1, pp. 63-68, 2007.
[CrossRef] [SCOPUS Times Cited 55]
 S. J. Korzeniewski, J. Slaughter, M. Lenski, P. Haak, N. Paneth, "The complex aetiology of cerebral palsy," Nature Reviews Neurology, vol. 14, no. 528-543, pp. 528-543, 2018.
[CrossRef] [Web of Science Times Cited 76] [SCOPUS Times Cited 83]
 A. Cullell, J. C. Moreno, E. Rocon, A. Forner-Cordero, J. L. Pons, "Biologically based design of an actuator system for a knee-ankle-foot orthosis," Mechanism and Machine Theory, vol. 44, no. 4, pp. 860-872, 2009.
[CrossRef] [Web of Science Times Cited 57] [SCOPUS Times Cited 60]
 M. Nevisipour, C. F. Honeycutt, "The impact of ankle-foot-orthosis (AFO) use on the compensatory stepping response required to avoid a fall during trip-like perturbations in young adults: Implications for AFO prescription and design," Journal of Biomechanics, vol 103,2020,
[CrossRef] [Web of Science Times Cited 4] [SCOPUS Times Cited 4]
 L. G. Stansbury, S. J. Lalliss, J. G. Branstetter, M. R. Bagg, J. B. Holcomb, "Amputations in US military personnel in the current conflicts in Afghanistan and Iraq," Journal of Orthopaedic Trauma, vol. 22, no. 1, pp. 43-46, 2008.
[CrossRef] [Web of Science Times Cited 113] [SCOPUS Times Cited 121]
 D. J. Weber, R. B. Stein, K. M. Chan, G. Loeb, F. Richmond, R. Rolf, S. L. Chong, "BIONic walk aide for correcting foot drop," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 13, no. 2, pp. 242-246, 2005.
[CrossRef] [Web of Science Times Cited 54] [SCOPUS Times Cited 67]
 M. S. Poboroniuc, D. E. Wood, R. Riener, N. N. Donaldson, "A new controller for FES-assisted sitting down in paraplegia," Advances in Electrical and Computer Engineering, vol.10, no.4, pp.9-16, 2010,
[CrossRef] [Full Text] [Web of Science Times Cited 12] [SCOPUS Times Cited 14]
 C. A. Byrne, D. T. O'keeffe, A. E. Donnelly, G. M. Lyons, "Effect of walking speed changes on tibialis anterior EMG during healthy gait for FES envelope design in drop foot correction," Journal of Electromyography and Kinesiology, vol. 17, no. 5, pp. 605-616, 2007.
[CrossRef] [Web of Science Times Cited 53] [SCOPUS Times Cited 58]
 R. Chin, E. T. Hsiao-Wecksler, E. Loth, G. Kogler, S. D. Manwaring, S. N. Tyson, J. N. Gilmer, "A Pneumatic power harvesting ankle-foot orthosis to prevent foot-drop," Journal of Neuroengineering and Rehabilitation, vol. 6, no. 19, pp. 1-11, 2009.
[CrossRef] [Web of Science Times Cited 49] [SCOPUS Times Cited 60]
 S. Pittaccio, L. Garavaglia, C. Ceriotti, F. Passaretti, "Applications of shape memory alloys for neurology and neuromuscular rehabilitation," Journal of Functional Biomaterials, vol. 6, no. 2, pp. 328-344, 2015.
 S. Telfer, J. Pallari, J. Munguia, K. Dalgarno, M. McGeough, J. Woodburn, "Embracing additive manufacture: implications for foot and ankle orthosis design," BMC Musculoskeletal Disorders, vol. 13, no. 84, pp. 1-9, 2012.
[CrossRef] [Web of Science Times Cited 57] [SCOPUS Times Cited 76]
 J. A. Blaya, H. Herr, "Adaptive Control of a variable-impedance ankle-foot orthosis to assist drop-foot gait," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 12, no. 1, pp. 24-31, 2004.
[CrossRef] [Web of Science Times Cited 486] [SCOPUS Times Cited 592]
 A. W. Boehler, K. W. Hollander, T. G. Sugar, D. Shin, "Design, implementation and test results of a robust control method for a powered ankle foot orthosis (AFO)," IEEE International Conference on Robotics and Automation, pp. 2025-2030, 2008.
[CrossRef] [Web of Science Times Cited 48] [SCOPUS Times Cited 57]
 D. P. Ferris, K. E. Gordon, G. S. Sawicki, A. Peethambaran, "An improved powered ankle-poot orthosis using proportional myoelectric control," Gait & Posture, vol. 23, no. 4, pp. 425-428, 2006.
[CrossRef] [Web of Science Times Cited 223] [SCOPUS Times Cited 260]
 D. H. Kuettel III, "Pulley optimization for a walking-engine-actuated active ankle-foot orthosis," Journal of Young Investigators, vol. 31, no. 5, pp. 32-38, 2016.
 Y. Savas, O. Kirtas, H. Basturk, E. Samur, "A backstepping control design for an active ankle-foot orthosis," IEEE 56th Annual Conference on Decision and Control (CDC), pp. 262-267, 2007.
[CrossRef] [SCOPUS Times Cited 2]
 B. C. Neubauer, J. Nath, W. K. Durfee, "Design of a portable hydraulic ankle-foot orthosis," 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 1182-1185, 2014.
[CrossRef] [SCOPUS Times Cited 2]
 M. Noel, B. Cantin, S. Lambert, C. M. Gosselin, L. J. Bouyer, "An electrohydraulic actuated ankle foot orthosis to generate force fields and to test proprioceptive reflexes during human walking," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 16, no. 4, pp. 390-399, 2008.
[CrossRef] [Web of Science Times Cited 52] [SCOPUS Times Cited 61]
 O. Ulkir, G. Akgun, E. Toptas, and E. Kaplanoglu, "Design and myoelectric control of an active orthosis device using finite state machine algorithm", Technium, vol. 2, no. 7, pp. 286-296, Nov. 2020.
 C. M. Thalman, T. Hertzell and H. Lee, "Toward a soft robotic ankle-foot orthosis (SR-AFO) exosuit for human locomotion: preliminary results in late stance plantarflexion assistance," 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA, 2020, pp. 801-807,
[CrossRef] [SCOPUS Times Cited 13]
 Z. Wang, E. T. Hsiao-Wecksler, "Design of a compact high-torque actuation system for portable powered ankle-foot orthosis," Journal of Medical Devices, vol. 10, no. 3, pp. 1-3, 2016.
[CrossRef] [Web of Science Times Cited 3] [SCOPUS Times Cited 4]
 R. Jimenez-Fabian, O. Verlinden, "Review of control algorithms for robotic ankle systems in lower-limb orthoses, prostheses, and exoskeletons," Medical Engineering & Physics, vol. 34, no. 4, pp. 397-408, 2012.
[CrossRef] [Web of Science Times Cited 201] [SCOPUS Times Cited 235]
 M. R. Tucker, J. Olivier, A. Pagel, H. Bleuler, M. Bouri, O. Lambercy, R. Gassert, "Control strategies for active lower extremity prosthetics and orthotics: a review," Journal of Neuroengineering and Rehabilitation, vol. 12, no. 1, pp. 1-29, 2015.
[CrossRef] [Web of Science Times Cited 400] [SCOPUS Times Cited 448]
 A. Agrawal, V. Sangwan, S. K. Banala, S. K. Agrawal, S. A. Binder-Macleod, "Design of a novel two degree-of-freedom ankle-foot orthosis," Journal of Mechanical Design, vol. 129, no. 11, pp. 1137-1143, 2007.
[CrossRef] [Web of Science Times Cited 21] [SCOPUS Times Cited 26]
 V. Arnez-Paniagua, H. Rifai, Y. Amirat, M. Ghedira, J. M. Gracies, S. Mohammed, "Adaptive control of an actuated ankle foot orthosis for paretic patients," Control Engineering Practice, vol. 90, no. 1, pp. 207-220, 2019.
[CrossRef] [Web of Science Times Cited 9] [SCOPUS Times Cited 11]
 J. F. Guerrero-Castellanos, H. Rifai, V. Arnez-Paniagua, J. Linares-Flores, L. Saynes-Torres, S. Mohammed, "Robust active disturbance rejection control via control Lyapunov functions: Application to actuated-ankle-foot-orthosis," Control Engineering Practice, vol. 80, no. 2, pp. 49-60, 2018.
[CrossRef] [Web of Science Times Cited 27] [SCOPUS Times Cited 34]
 W. Huo, V. Arnez-Paniagua, G. Ding, Y. Amirat, S. Mohammed, "Adaptive proxy-based controller of an active ankle foot orthosis to assist lower limb movements of paretic patients," Robotica, vol. 37, no. 12, pp. 2147-2164, 2019.
[CrossRef] [Web of Science Times Cited 13] [SCOPUS Times Cited 14]
 Y. Xia, W. Xie, B. Liu, X. Wang, "Data-driven predictive control for networked control systems," Information Sciences, vol. 235, pp. 45-54, 2013.
[CrossRef] [Web of Science Times Cited 74] [SCOPUS Times Cited 82]
 O. Ulkir, G. Akgun, E. Kaplanoglu, "Real-time implementation of data-driven predictive controller for an artificial muscle," Studies in Informatics and Control, vol. 28, no. 2, pp. 189-200, 2019.
[CrossRef] [Web of Science Times Cited 3] [SCOPUS Times Cited 3]
 J. Berberich, J. Koehler, M. A. Muller and F. Allgower, "Data-driven model predictive control with stability and robustness guarantees," in IEEE Transactions on Automatic Control,
[CrossRef] [Web of Science Times Cited 80] [SCOPUS Times Cited 62]
 F. Smarra, A. Jain, T. De Rubeis, D. Ambrosini, A. D'Innocenzo, R. Mangharam, "Data-driven model predictive control using random forests for building energy optimization and climate control," Applied Energy, vol. 226, pp. 1252-1272, 2018.
[CrossRef] [Web of Science Times Cited 135] [SCOPUS Times Cited 157]
 Z. Hou, S. Liu, T. Tian, "Lazy-learning-based data-driven model-free adaptive predictive control for a class of discrete-time nonlinear systems," IEEE Transactions on Neural Networks and Learning Systems, vol. 28, no. 8, pp. 1914-1928.
[CrossRef] [Web of Science Times Cited 53] [SCOPUS Times Cited 79]
 P. Van Overschee, B. L. De Moor, "Subspace identification for linear systems: theory-implementation-applications," pp. 1-272, Springer Science & Business Media, 2012
 R. Kadali, B. Huang, A. Rossiter, "A data driven subspace approach to predictive controller design," Control Engineering Practice, vol. 11, no. 3, pp. 261-278.
[CrossRef] [Web of Science Times Cited 135] [SCOPUS Times Cited 164]
 A. H. Gonzalez, A. Ferramosca, G. A. Bustos, J. L. Marchetti, M. Fiacchini, D. Odloak, "Model predictive control suitable for closed-loop re-identification," Systems & Control Letters, vol. 69, pp. 23-33, 2014.
[CrossRef] [Web of Science Times Cited 21] [SCOPUS Times Cited 22]
 N. Rao, G. Chaudhuri, D. Hasso, K. D'Souza, J. Wening, C. Carlson, A. S. Aruin, "Gait assessment during the initial fitting of an ankle foot orthosis in individuals with stroke," Disability and Rehabilitation: Assistive technology, vol. 3, no. 4, pp. 201-207, 2007.
[CrossRef] [SCOPUS Times Cited 25]
 Y. L. Park, B. R. Chen, D. Young, L. Stirling, R. J. Wood, E. Goldfield, R. Nagpal, "Bio-inspired active soft orthotic device for ankle foot pathologies," IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4488-4495, 2011.
 J. Zhang, Y. Yin, J. Zhu, "Sigmoid-based hysteresis modeling and high-speed tracking control of sma-artificial muscle," Sensors and Actuators A: Physical, vol. 201, pp. 264-273, 2013.
[CrossRef] [Web of Science Times Cited 24] [SCOPUS Times Cited 29]
 M. Vivian, M. Reggiani, J. C. Moreno, J. L. Pons, D. Farina, M. Sartori, "A dynamically consistent model of a motorized ankle-foot orthosis," 6th International IEEE/EMBS Conference on Neural Engineering (NER), pp. 1558-1561, 2013.
[CrossRef] [SCOPUS Times Cited 4]
Web of Science® Citations for all references: 2,541 TCR
SCOPUS® Citations for all references: 3,054 TCR
Web of Science® Average Citations per reference: 64 ACR
SCOPUS® Average Citations per reference: 76 ACR
TCR = Total Citations for References / ACR = Average Citations per Reference
We introduced in 2010 - for the first time in scientific publishing, the term "References Weight", as a quantitative indication of the quality ... Read more
Citations for references updated on 2022-10-01 19:29 in 231 seconds.
Note1: Web of Science® is a registered trademark of Clarivate Analytics.
Note2: SCOPUS® is a registered trademark of Elsevier B.V.
Disclaimer: All queries to the respective databases were made by using the DOI record of every reference (where available). Due to technical problems beyond our control, the information is not always accurate. Please use the CrossRef link to visit the respective publisher site.
Faculty of Electrical Engineering and Computer Science
Stefan cel Mare University of Suceava, Romania
All rights reserved: Advances in Electrical and Computer Engineering is a registered trademark of the Stefan cel Mare University of Suceava. No part of this publication may be reproduced, stored in a retrieval system, photocopied, recorded or archived, without the written permission from the Editor. When authors submit their papers for publication, they agree that the copyright for their article be transferred to the Faculty of Electrical Engineering and Computer Science, Stefan cel Mare University of Suceava, Romania, if and only if the articles are accepted for publication. The copyright covers the exclusive rights to reproduce and distribute the article, including reprints and translations.
Permission for other use: The copyright owner's consent does not extend to copying for general distribution, for promotion, for creating new works, or for resale. Specific written permission must be obtained from the Editor for such copying. Direct linking to files hosted on this website is strictly prohibited.
Disclaimer: Whilst every effort is made by the publishers and editorial board to see that no inaccurate or misleading data, opinions or statements appear in this journal, they wish to make it clear that all information and opinions formulated in the articles, as well as linguistic accuracy, are the sole responsibility of the author.