Angle Control of Powered Ankle Orthosis Using Ultrasonic Motor
-
- FUKUDA Koji
- Anan College of Technology
-
- KAMANO Takuya
- Faculty of Engineering, The Tokushima University
-
- YASUNO Takashi
- Faculty of Engineering, The Tokushima University
-
- SUZUKI Takayuki
- Faculty of Engineering, The Tokushima University
Bibliographic Information
- Other Title
-
- 超音波モータを用いた短下肢装具の足首角制御
- チョウオンパ モータ オ モチイタ タンカシ ソウグ ノ アシクビカク セイギョ
Search this article
Abstract
An ankle orthosis is prescribed for the persons who have the movement disorders caused by the paralyzed ankle. The most important purpose of the ankle orthosis is to support the gait by keeping the toe clearance. However, the conventional ankle orthosis with fixed joint restricts the motion of ankle because the ankle orthosis has no actuators. Therefore, the flexible and powered ankle orthosis is required to realize smooth walking. In this paper, a powered ankle orthosis with a progressive wave type ultrasonic motor (PUM) is proposed. To achieve smooth walking, a fuzzy reference generator and a fuzzy feedforward controller are introduced. The objective of the fuzzy reference generator is to estimate the appropriate ankle motion, which is obtained from the walking experiments for a person without handicap.The fuzzy feedforward controller is used to improve the tracking performance of the ankle positioning system. The effectiveness of the proposed ankle orthosis is demonstrated by experiments.
Journal
-
- Transactions of the Institute of Systems, Control and Information Engineers
-
Transactions of the Institute of Systems, Control and Information Engineers 13 (12), 560-565, 2000
THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)
- Tweet
Details 詳細情報について
-
- CRID
- 1390001205165298432
-
- NII Article ID
- 10007398566
-
- NII Book ID
- AN1013280X
-
- ISSN
- 2185811X
- 13425668
-
- NDL BIB ID
- 5596359
-
- Data Source
-
- JaLC
- NDL
- Crossref
- CiNii Articles
-
- Abstract License Flag
- Disallowed