Review of control algorithms for robotic ankle systems in lower-limb orthoses, prostheses, and exoskeletons
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 rel...
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| Published in | Medical engineering & physics Vol. 34; no. 4; pp. 397 - 408 |
|---|---|
| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Kidlington
Elsevier Ltd
01.05.2012
Elsevier |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1350-4533 1873-4030 1873-4030 |
| DOI | 10.1016/j.medengphy.2011.11.018 |
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| Abstract | 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. |
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| AbstractList | Abstract 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. 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. 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.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. |
| Author | Verlinden, O. Jiménez-Fabián, R. |
| Author_xml | – sequence: 1 givenname: R. surname: Jiménez-Fabián fullname: Jiménez-Fabián, R. email: rene.jimenez@umons.ac.be – sequence: 2 givenname: O. surname: Verlinden fullname: Verlinden, O. email: olivier.verlinden@umons.ac.be |
| BackLink | http://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=25810889$$DView record in Pascal Francis https://www.ncbi.nlm.nih.gov/pubmed/22177895$$D View this record in MEDLINE/PubMed |
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| Keywords | 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 |
| Language | English |
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| Snippet | This review focuses on control strategies for robotic ankle systems in active and semiactive lower-limb orthoses, prostheses, and exoskeletons. Special... Abstract This review focuses on control strategies for robotic ankle systems in active and semiactive lower-limb orthoses, prostheses, and exoskeletons.... |
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| SubjectTerms | 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 |
| Title | Review of control algorithms for robotic ankle systems in lower-limb orthoses, prostheses, and exoskeletons |
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