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Titre :
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Feedback control of oxygen uptake during robot-assisted gait (2011)
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Auteurs :
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Andrew Pennycott, Auteur ;
Kenneth Hunt, Auteur ;
Sylvie Coupaud, Auteur
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Type de document :
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Article : texte imprimé
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Dans :
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IEEE Transactions on control systems technology (Vol. 18 N° 1, Janvier 2010)
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Article en page(s) :
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pp. 136-142
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Note générale :
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Génie Aérospatial
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Langues :
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Anglais
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Index. décimale :
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629.1
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Tags :
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Feedback control Rehabilitation engineering Robot-assisted gait Spinal cord injury System identification
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Résumé :
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Body-weight-supported robot-assisted devices can be used to promote gait rehabilitation and as exercise tools for neurologically impaired persons such as stroke and spinal-cord-injured patients. Here, we propose a novel feedback-control structure for real-time control of oxygen uptake during robot-assisted gait, in which we use the following methods. 1) A feedback-control structure is proposed, consisting of a dynamic controller operating on target and actual levels of oxygen uptake in order to set a target work rate. Target work rate is achieved by an inner volitional feedback loop which relies on the subject's exercise input. 2) The dynamic oxygen-uptake controller is based on an empirically derived model of the oxygen-uptake dynamics and is synthesized by pole placement. 3) The resulting control system is tested during the robot-assisted treadmill ambulation of five able-bodied subjects. A single linear controller was designed based on identification data from tests with one subject and used for closed-loop control tests with all five subjects. In all cases, the actual oxygen-uptake response closely followed the ideal response as specified by the feedback design parameters. The control of oxygen uptake during body-weight-supported robot-assisted ambulation is feasible in the able-bodied population; the robustness of the system is demonstrated within the class of subjects tested. Further testing is required to validate the approach with neurologically impaired subjects.
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DEWEY :
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629.1
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ISSN :
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1063-6536
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En ligne :
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http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4895717
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