Development of Intelligent Ankle-Foot Orthosis (i-AFO) with MR Fluid Brake and Control System for Gait Control

被引：7
|
作者：
Kikuchi, Takehito [1 ]
Tanida, Sousuke [1 ]
Otsuki, Kikuko [1 ]
Kakehashi, Taigo [1 ]
Furusho, Junji [1 ]
机构：
[1] Osaka Univ, Dept Mech Engn, Grad Sch Engn, Osaka, Japan
来源：
SERVICE ROBOTICS AND MECHATRONICS | 2010年
关键词：
Ankle-foot orthosis; controllable brake; magneto-rheological fluid; gait control;
D O I：
10.1007/978-1-84882-694-6_13
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Ankle-Foot Orthoses (AFOs) are orthotic devices supporting movements of ankles of disabled people for example hemiplegia, polio, peroneal nerve palsy, etc. In our research, we have developed intelligently and passively controllable AFOs (i-AFO) which can control its ankle torque with a compact Magneto-rheological fluid brake (MRB). In this paper, we describe a design method and a control method of the i-AFO. In the final part of this paper, we present experimental results in which the i-AFO was applied to gait control for a polio patient.
引用
收藏
页码：75 / 80
页数：6
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