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  1/2021 - 7

Data-Driven Predictive Control of a Pneumatic Ankle Foot Orthosis

ULKIR, O. See more information about ULKIR, O. on SCOPUS See more information about ULKIR, O. on IEEExplore See more information about ULKIR, O. on Web of Science, AKGUN, G. See more information about  AKGUN, G. on SCOPUS See more information about  AKGUN, G. on SCOPUS See more information about AKGUN, G. on Web of Science, NASAB, A. See more information about  NASAB, A. on SCOPUS See more information about  NASAB, A. on SCOPUS See more information about NASAB, A. on Web of Science, KAPLANOGLU, E. See more information about KAPLANOGLU, E. on SCOPUS See more information about KAPLANOGLU, E. on SCOPUS See more information about KAPLANOGLU, E. on Web of Science
 
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Download PDF pdficon (1,450 KB) | Citation | Downloads: 193 | Views: 271

Author keywords
rehabilitation assistance, ankle-foot orthosis, subspace identification, PID, data-driven predictive control

References keywords
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

Abstract
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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

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References Weight

Web of Science® Citations for all references: 2,104 TCR
SCOPUS® Citations for all references: 2,598 TCR

Web of Science® Average Citations per reference: 53 ACR
SCOPUS® Average Citations per reference: 65 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 2021-09-13 14:33 in 249 seconds.




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