Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/71237
Título: | Feedback-error learning for gait rehabilitation using a powered knee orthosis: first advances |
Autor(es): | Fernandes, Pedro Nuno Carvalho, Simao Figueiredo, Joana Moreno, Juan C. Santos, Cristina |
Data: | 2019 |
Editora: | IEEE |
Citação: | L. Moreira et al., "Study of Gait Cycle Using a Five-Link Inverted Pendulum Model: First Developments*," 2019 IEEE 6th Portuguese Meeting on Bioengineering (ENBENG), Lisbon, Portugal, 2019, pp. 1-4, doi: 10.1109/ENBENG.2019.8692451. |
Resumo(s): | Powered assistive devices have been playing a major role in gait rehabilitation. Hereby, the development of time-effective control strategies to manage such devices is a key concern to rehabilitation engineering. This paper presents a real-time Feedback-Error Learning control strategy, by means of an Artificial Neural Network as a feedforward controller to acquire the inverse model of the plant, and a Proportional-Integral-Derivative feedback controller to guarantee stability and handle with disturbances. A Powered Knee Orthosis was used as the assistive device and a trajectory generator assistive strategy, previously acquired through an inertial system, was applied. A validation with one subject walking in a treadmill at 1 km/h with the Powered Knee Orthosis controlled by the Feedback-Error Learning control was performed. Evidences on the control behavior presented good performances, with the Artificial Neural Network taking 90 seconds to learn the inverse model, which enabled a decrease in the angular position error by 75% and eliminated the phase delay, when compared to solo Proportional-Integral-Derivative feedback controller. Robust reactions to external disturbances were also achieved. The implemented Feedback-Error Learning strategy proves to be a time-effective asset to control assistive powered devices. |
Tipo: | Artigo em ata de conferência |
URI: | https://hdl.handle.net/1822/71237 |
ISBN: | 9781538685068 |
DOI: | 10.1109/ENBENG.2019.8692502 |
Versão da editora: | https://ieeexplore.ieee.org/document/8692502 |
Arbitragem científica: | yes |
Acesso: | Acesso aberto |
Aparece nas coleções: | CMEMS - Artigos em livros de atas/Papers in proceedings |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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FEL_paper_end.pdf | 704,24 kB | Adobe PDF | Ver/Abrir |