Title :
A closed-loop control system to be used a hybrid RGO system
Author :
Pérez-Orive, Javier ; Mayagoitia, Ruth E.
Author_Institution :
Iberoamericana Univ., Lomas de Santa Fe, Mexico
Abstract :
A closed-loop control system for use with an hybrid reciprocating gait orthosis (RGO) has been developed. This control system uses two goniometers that measure the hip angle. The controller is based on a 68HC11 microcontroller. The controller has open-loop routines for standing up and sitting down and a routine for closed-loop gait. The control method used is hierarchical, having as an upper level a rule-based control and as a lower level an on/off control. The functional electrical stimulation needed to take each step can be interrupted either by pressing the contralateral button or when the angle between the two hips reaches a certain value. Even though no clinical tests have been made yet, the system has been bench-tested and it can be said that it will add the benefits of feedback control to those of the open-loop hybrid orthosis
Keywords :
biocontrol; biomechanics; closed loop systems; hierarchical systems; microcontrollers; muscle; neurophysiology; orthotics; 68HC11 microcontroller; angle between hips; bench-tested system; clinical tests; closed-loop control system; closed-loop gait; contralateral button; feedback control; functional electrical stimulation; goniometers; hierarchical control method; hip angle measurement; hybrid RGO system; hybrid reciprocating gait orthosis; on/off control; open-loop hybrid orthosis; rule-based control; sitting down; standing up; Analog-digital conversion; Control systems; Feedback control; Goniometers; Hip; Leg; Lesions; Microcontrollers; Muscles; Neuromuscular stimulation; Open loop systems; Pressing; System testing; Voltage;
Conference_Titel :
Engineering in Medicine and Biology Society, 1994. Engineering Advances: New Opportunities for Biomedical Engineers. Proceedings of the 16th Annual International Conference of the IEEE
Conference_Location :
Baltimore, MD
Print_ISBN :
0-7803-2050-6
DOI :
10.1109/IEMBS.1994.411979
