Finite-State Machine for Level-Ground Walking Control of an Ankle-Foot Orthosis

Tsongo Vughuma, Joseph; Verlinden, Olivier

doi:10.11159/icbes22.117

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Finite-State Machine for Level-Ground Walking Control of an Ankle-Foot Orthosis

Tsongo Vughuma, Joseph; Verlinden, Olivier

2022 • In Benedicenti, Luigi; Liu, Zheng (Eds.) Proceedings of the 8th World Congress on Electrical Engineering and Computer Systems and Science, EECSS 2022

Peer reviewed

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https://hdl.handle.net/20.500.12907/44263

DOI
10.11159/icbes22.117

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Keywords :

Admittance; Ankle; Control; Finite-state machine; Impedance; Orthosis; Walking; Computer Networks and Communications; Information Systems; Artificial Intelligence; Human-Computer Interaction; Electrical and Electronic Engineering; Biomedical Engineering

Abstract :

[en] This paper presents a control algorithm for an active ankle-foot orthosis that provides level-ground walking assistance with adaptable control parameters. Instead of the impedance-control usually used in lower-limb assistive devices, an admittance control is used, and the control parameters are adapted with respect to gait events detected by a finite-state machine based on foot pressure sensors. In this work, the state machine can not only detect the various phases of the walking cycle but also undesirable events such as an unexpected lifting of the foot, reversing or even the user's intent to stop. It selects the best parameters that will allow a safe control of the orthosis. The control system was implemented and evaluated on a single subject. The ability of the device to provide appropriate functionality (kinematics and kinetics) during ground-walking is compared to those of a healthy subject. Results from tests indicates that the orthosis can provide desirable level-ground walking behavior.

Disciplines :

Mechanical engineering

Author, co-author :

Tsongo Vughuma, Joseph ; Université de Mons - UMONS > Faculté Polytechnique > Service de Mécanique rationnelle, Dynamique et Vibrations

Verlinden, Olivier ; Université de Mons - UMONS

Language :

English

Title :

Finite-State Machine for Level-Ground Walking Control of an Ankle-Foot Orthosis

Publication date :

28 July 2022

Event name :

World Congress on Electrical Engineering and Computer Systems and Science

Event place :

Prague, Cze

Event date :

28-07-2022 => 30-07-2022

Main work title :

Proceedings of the 8th World Congress on Electrical Engineering and Computer Systems and Science, EECSS 2022

Editor :

Benedicenti, Luigi

Liu, Zheng

Publisher :

Avestia Publishing

ISBN/EAN :

978-1-990800-09-2

Peer reviewed :

Peer reviewed

Research unit :

F703 - Mécanique rationnelle, Dynamique et Vibrations

Research institute :

Santé

Available on ORBi UMONS :

since 09 January 2023

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