Feedback control of oxygen uptake during robot-assisted gait / Andrew Pennycott in IEEE Transactions on control systems technology, Vol. 18 N° 1 (Janvier 2010)  

Public ISBD [article]  inIEEE Transactions on control systems technology > Vol. 18 N° 1 (Janvier 2010) . - pp. 136-142 Titre : Feedback control of oxygen uptake during robot-assisted gait Type de document : texte imprimé Auteurs : Andrew Pennycott, Auteur ; Kenneth Hunt, Auteur ; Sylvie Coupaud, Auteur Année de publication : 2011 Article en page(s) : pp. 136-142 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Feedback control Rehabilitation engineering Robot-assisted gait Spinal cord injury System identification Index. décimale : 629.1 Résumé : 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. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4895717 [article] Feedback control of oxygen uptake during robot-assisted gait [texte imprimé] / Andrew Pennycott, Auteur ; Kenneth Hunt, Auteur ; Sylvie Coupaud, Auteur . - 2011 . - pp. 136-142. Génie Aérospatial Langues : Anglais (eng) in IEEE Transactions on control systems technology > Vol. 18 N° 1 (Janvier 2010) . - pp. 136-142 Mots-clés : Feedback control Rehabilitation engineering Robot-assisted gait Spinal cord injury System identification Index. décimale : 629.1 Résumé : 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. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4895717

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