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

fYear

1994

fDate

3-6 Nov 1994

Firstpage

410

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IEMBS.1994.411979

Filename

411979