Review of control algorithms for robotic ankle systems in lower-limb orthoses, prostheses, and exoskeletons

• Published in: Medical engineering & physics Vol. 34; no. 4; pp. 397 - 408
• Main Authors: Jiménez-Fabián, R., Verlinden, O.
• Format: Journal Article
• Language: English
• Published: Kidlington Elsevier Ltd 01.05.2012; Elsevier
• Subjects: Active and semiactive orthoses/prostheses; Adaptations; Algorithms; Ankle; Ankle - physiology; Applied sciences; Biological and medical sciences; Biomechanical Phenomena; Computer science; control theory; systems; Control algorithms; Control theory. Systems; Diseases of the osteoarticular system. Orthopedic treatment; Exact sciences and technology; Exoskeleton; Exoskeletons; gait; Hip; Humans; Joints; Knee; Medical sciences; Motivation; Orthotic Devices; Prostheses and Implants; Prosthetics; Radiology; Radiotherapy. Instrumental treatment. Physiotherapy. Reeducation. Rehabilitation, orthophony, crenotherapy. Diet therapy and various other treatments (general aspects); Reviews; Robotic ankle systems; Robotics; Robotics - instrumentation; Technology. Biomaterials. Equipments. Material. Instrumentation; Walking; Exoskeletons; Robotic ankle systems; Control algorithms; Active and semiactive orthoses/prostheses; Prosthesis; Orthosis; Orthopedic treatment; Lower limb; Review; Algorithm; Robotics; Ankle; Ankle joint; Biomedical engineering
• ISSN: 1350-4533; 1873-4030; 1873-4030
• DOI: 10.1016/j.medengphy.2011.11.018

This review focuses on control strategies for robotic ankle systems in active and semiactive lower-limb orthoses, prostheses, and exoskeletons. Special attention is paid to algorithms for gait phase identification, adaptation to different walking conditions, and motion intention recognition. The relevant aspects of hardware configuration and hardware-level controllers are discussed as well. Control algorithms proposed for other actuated lower-limb joints (knee and/or hip), with potential applicability to the development of ankle devices, are also included.