Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICMA.2013.6618042
Title: First implementation results on FAT based adaptive control for a lower extremity rehabilitation device
Authors: Li, J.
Shen, B.
Bai, F.
Chew, C.-M. 
Teo, C.L. 
Keywords: FAT based adaptive control
Lower extremity rehabilitation device
passive gait training
Issue Date: 2013
Source: Li, J.,Shen, B.,Bai, F.,Chew, C.-M.,Teo, C.L. (2013). First implementation results on FAT based adaptive control for a lower extremity rehabilitation device. 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 : 945-950. ScholarBank@NUS Repository. https://doi.org/10.1109/ICMA.2013.6618042
Abstract: Gait restoration after stroke is a major concern of neurological rehabilitation. In this paper, a recently developed wearable lower extremity rehabilitation device is introduced, and an adaptive control strategy based on Function Approximation Techniques (FAT) is designed to aid stroke patients who are in the early phase of rehabilitation or severely affected. The device adopts an anthropomorphic structure actuated on hip and knee joint level in sagittal plane. Frameless DC motor with high gear-ratio harmonic drive is used as actuator. Fourier series fitting method is used to obtain the desired hip and knee reference trajectory. This control algorithm is then implemented in the device with friction compensation to track the desired gait trajectory. Implementation results for a healthy subject show that good tracking performance can be achieved, and actuator toques are within a reasonable range. This FAT based adaptive control algorithm could potentially be used for stroke patients as well. © 2013 IEEE.
Source Title: 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
URI: http://scholarbank.nus.edu.sg/handle/10635/73476
ISBN: 9781467355582
DOI: 10.1109/ICMA.2013.6618042
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