| 1/2021 - 7 |
Data-Driven Predictive Control of a Pneumatic Ankle Foot OrthosisULKIR, O.   , AKGUN, G. , NASAB, A. , KAPLANOGLU, E. |
Extra paper information in    |
| Click to see author's profile in SCOPUS, IEEE Xplore, Web of Science |
Download PDF  (1,450 KB) | Citation | Downloads: 1,379 | Views: 1,211 |
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
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 |
Web of Science® Times Cited: 7 [View]
View record in Web of Science® [View]
View Related Records® [View]
Updated 2 days, 6 hours ago
SCOPUS® Times Cited: 8
View record in SCOPUS® [Free preview]
View citations in SCOPUS® [Free preview]
Updated 2 days, 6 hours ago
[1] Workflow-Based Fast Data-Driven Predictive Control With Disturbance Observer in Cloud-Edge Collaborative Architecture, Gao, Runze, Li, Qiwen, Dai, Li, Zhan, Yufeng, Xia, Yuanqing, IEEE Transactions on Automation Science and Engineering, ISSN 1545-5955, Issue 3, Volume 21, 2024.
Digital Object Identifier: 10.1109/TASE.2023.3270203 [CrossRef]
[2] Data-driven Iterative Learning Model Predictive Control for Pneumatic Muscle Actuators, Xie, Shenglong, Liu, Wenyuan, Bian, Shiyuan, International Journal of Control, Automation and Systems, ISSN 1598-6446, Issue 8, Volume 22, 2024.
Digital Object Identifier: 10.1007/s12555-023-0511-7 [CrossRef]
[3] Multi-Terrains Assistive Force Parameter Optimization Method for Soft Exoskeleton, Sun, Lei, Jing, Jiahui, Li, Chenghui, Lu, Rundong, IEEE Transactions on Neural Systems and Rehabilitation Engineering, ISSN 1534-4320, Issue , 2023.
Digital Object Identifier: 10.1109/TNSRE.2023.3267062 [CrossRef]
[4] Model predictive control of an active ankle-foot orthosis with non-linear actuation constraints, DeBoer, Benjamin, Hosseini, Ali, Rossa, Carlos, Control Engineering Practice, ISSN 0967-0661, Issue , 2023.
Digital Object Identifier: 10.1016/j.conengprac.2023.105538 [CrossRef]
[5] Data-Driven Predictive Control of Exoskeleton for Hand Rehabilitation with Subspace Identification, Kaplanoglu, Erkan, Akgun, Gazi, Sensors, ISSN 1424-8220, Issue 19, Volume 22, 2022.
Digital Object Identifier: 10.3390/s22197645 [CrossRef]
[6] Lower-Limb Robotic Assistance Devices for Drop Foot: A Review, Al-Rahmani, Nour, Mohan, Dhanya Menoth, Awad, Mohammad I., Wasti, Sabahat Asim, Hussain, Irfan, Khalaf, Kinda, IEEE Access, ISSN 2169-3536, Issue , 2022.
Digital Object Identifier: 10.1109/ACCESS.2022.3174686 [CrossRef]
[7] Optimal Finite- Time Prescribed Performance of Servo Pneumatic Positioning with PID Control Tuning using an Evolutionary Mating Algorithm, Irawan, Addie, Sulaiman, Mohd Herwan, Azahar, Mohd Iskandar Putra, 2023 IEEE 13th International Conference on Control System, Computing and Engineering (ICCSCE), ISBN 979-8-3503-2318-4, 2023.
Digital Object Identifier: 10.1109/ICCSCE58721.2023.10237170 [CrossRef]
Updated 2 days, 6 hours ago
Disclaimer: All information displayed above was retrieved by using remote connections to respective databases. For the best user experience, we update all data by using background processes, and use caches in order to reduce the load on the servers we retrieve the information from. As we have no control on the availability of the database servers and sometimes the Internet connectivity may be affected, we do not guarantee the information is correct or complete. For the most accurate data, please always consult the database sites directly. Some external links require authentication or an institutional subscription.
Web of Science® is a registered trademark of Clarivate Analytics, Scopus® is a registered trademark of Elsevier B.V., other product names, company names, brand names, trademarks and logos are the property of their respective owners.
Copyright ©2001-2024
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.
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.
