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Adaptive Proxy-Based Controller of an Active Ankle Foot Orthosis to Assist Lower Limb Movements of Paretic Patients

Published online by Cambridge University Press:  18 March 2019

Weiguang Huo Open the ORCID record for Weiguang Huo [Opens in a new window] ,
Victor Arnez-Paniagua ,
Guangzheng Ding ,
Yacine Amirat  and
Samer Mohammed
Weiguang Huo*
Affiliation:
Department of Mechanical Engineering, Imperial College London, UK
Victor Arnez-Paniagua
Affiliation:
Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil (UPEC), 94400 Vitry-sur-Seine, France. E-mails: victor.arnezpaniagua@univ-paris-est.fr; amirat@u-pec.fr; m201672442@hust.edu.cn; samer.mohammed@u-pec.fr
Guangzheng Ding
Affiliation:
Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil (UPEC), 94400 Vitry-sur-Seine, France. E-mails: victor.arnezpaniagua@univ-paris-est.fr; amirat@u-pec.fr; m201672442@hust.edu.cn; samer.mohammed@u-pec.fr
Yacine Amirat
Affiliation:
Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil (UPEC), 94400 Vitry-sur-Seine, France. E-mails: victor.arnezpaniagua@univ-paris-est.fr; amirat@u-pec.fr; m201672442@hust.edu.cn; samer.mohammed@u-pec.fr
Samer Mohammed
Affiliation:
Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil (UPEC), 94400 Vitry-sur-Seine, France. E-mails: victor.arnezpaniagua@univ-paris-est.fr; amirat@u-pec.fr; m201672442@hust.edu.cn; samer.mohammed@u-pec.fr
*
*Corresponding author. E-mail: w.huo@imperial.ac.uk
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Summary

This paper deals with the control of an active ankle foot orthosis (AAFO) for paretic patients. State of the art methods using an AAFO try to track a predefined trajectory of the ankle joint while guaranteeing the wearer’s safety in the presence of a large tracking error. Combining the wearer’s safety and tracking accuracy is generally difficult to achieve at the same time, hence a trade-off should be found. Proxy-based sliding mode control (PSMC) offers great performances in both position tracking and safety guarantee. However, its tracking performance is subject to the influences of parameter uncertainties and external disturbances that generally occur during walking. This paper introduces an adaptation interaction method to the basic PSMC with an online adaptation of the proportional, integral and derivative parameters. At the same time, a gait phase-based ankle reference generation algorithm was proposed to adjust the joint reference trajectory in real time. The experiments using the AAFO show better tracking results with respect to basic PSMC while guaranteeing the safety.

Keywords

Active ankle foot orthosisOnline reference generationAdaptive PSMCWearable robotGait rehabilitation
Type
Articles
Information
Robotica , Volume 37 , Special Issue 12: Wearable Robotics: Dynamics, Control and Applications , December 2019 , pp. 2147 - 2164
Copyright
© Cambridge University Press 2019 

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