Control Motion Approach of a Lower Limb Orthosis to Reduce Energy Consumption
By analysing the dynamic principles of the human gait, an economic gait-control analysis is performed, and passive elements are included to increase the energy efficiency in the motion control of active orthoses. Traditional orthoses use position patterns from the clinical gait analyses (CGAs) of he...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2012-12-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/51903 |
| _version_ | 1818414267026636800 |
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| author | Daniel Sanz-Merodio Manuel Cestari Juan Carlos Arevalo Elena Garcia |
| author_facet | Daniel Sanz-Merodio Manuel Cestari Juan Carlos Arevalo Elena Garcia |
| author_sort | Daniel Sanz-Merodio |
| collection | DOAJ |
| description | By analysing the dynamic principles of the human gait, an economic gait-control analysis is performed, and passive elements are included to increase the energy efficiency in the motion control of active orthoses. Traditional orthoses use position patterns from the clinical gait analyses (CGAs) of healthy people, which are then de-normalized and adjusted to each user. These orthoses maintain a very rigid gait, and their energy cost is very high, reducing the autonomy of the user. First, to take advantage of the inherent dynamics of the legs, a state machine pattern with different gains in each state is applied to reduce the actuator energy consumption. Next, different passive elements, such as springs and brakes in the joints, are analysed to further reduce energy consumption. After an off-line parameter optimization and a heuristic improvement with genetic algorithms, a reduction in energy consumption of 16.8% is obtained by applying a state machine control pattern, and a reduction of 18.9% is obtained by using passive elements. Finally, by combining both strategies, a more natural gait is obtained, and energy consumption is reduced by 24.6% compared with a pure CGA pattern. |
| first_indexed | 2024-12-14T11:16:23Z |
| format | Article |
| id | doaj.art-2ea0a4b18df24f49af86eae16d5a24b0 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-14T11:16:23Z |
| publishDate | 2012-12-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-2ea0a4b18df24f49af86eae16d5a24b02022-12-21T23:04:01ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142012-12-01910.5772/5190310.5772_51903Control Motion Approach of a Lower Limb Orthosis to Reduce Energy ConsumptionDaniel Sanz-Merodio0Manuel Cestari1Juan Carlos Arevalo2Elena Garcia3 Centre for Automation and Robotics, CSIC, La Poveda, Madrid, Spain Centre for Automation and Robotics, CSIC, La Poveda, Madrid, Spain Centre for Automation and Robotics, CSIC, La Poveda, Madrid, Spain Centre for Automation and Robotics, CSIC, La Poveda, Madrid, SpainBy analysing the dynamic principles of the human gait, an economic gait-control analysis is performed, and passive elements are included to increase the energy efficiency in the motion control of active orthoses. Traditional orthoses use position patterns from the clinical gait analyses (CGAs) of healthy people, which are then de-normalized and adjusted to each user. These orthoses maintain a very rigid gait, and their energy cost is very high, reducing the autonomy of the user. First, to take advantage of the inherent dynamics of the legs, a state machine pattern with different gains in each state is applied to reduce the actuator energy consumption. Next, different passive elements, such as springs and brakes in the joints, are analysed to further reduce energy consumption. After an off-line parameter optimization and a heuristic improvement with genetic algorithms, a reduction in energy consumption of 16.8% is obtained by applying a state machine control pattern, and a reduction of 18.9% is obtained by using passive elements. Finally, by combining both strategies, a more natural gait is obtained, and energy consumption is reduced by 24.6% compared with a pure CGA pattern.https://doi.org/10.5772/51903 |
| spellingShingle | Daniel Sanz-Merodio Manuel Cestari Juan Carlos Arevalo Elena Garcia Control Motion Approach of a Lower Limb Orthosis to Reduce Energy Consumption International Journal of Advanced Robotic Systems |
| title | Control Motion Approach of a Lower Limb Orthosis to Reduce Energy Consumption |
| title_full | Control Motion Approach of a Lower Limb Orthosis to Reduce Energy Consumption |
| title_fullStr | Control Motion Approach of a Lower Limb Orthosis to Reduce Energy Consumption |
| title_full_unstemmed | Control Motion Approach of a Lower Limb Orthosis to Reduce Energy Consumption |
| title_short | Control Motion Approach of a Lower Limb Orthosis to Reduce Energy Consumption |
| title_sort | control motion approach of a lower limb orthosis to reduce energy consumption |
| url | https://doi.org/10.5772/51903 |
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