Computer Control of A Powered Two Degree Freedom Reciprocating Gait Orthosis

Journal Title, Volume, Page:

ISA Transactions, Volume 45, Number 2, April 2006, pages 249–258

Year of Publication:

2004

Link:

http://www.sciencedirect.com/science/article/pii/S0019057807601931

Authors:

Bashir M. Y. Nouri

Department of Mechanical Engineering, Faculty of Engineering, An-Najah National University, P.O. Box 7, Nablus, West Bank, Palestine

Current Affiliation:

Department of Mechanical Engineering, Faculty of Engineering, An-Najah National University, P.O. Box 7, Nablus, West Bank, Palestine

[email protected]

Arafat Zaidan

Department of Mechatronics Engineering, Faculty of Engineering, The Hashemite University, P.O. Box 150459, Zarqa 13115, Jordan

[email protected]

Preferred Abstract (Original):

The design of a motion control system for a powered reciprocating gait orthosis is considered. Models for the orthosis are obtained using least squares identification. The control system design is based on pole-placement techniques and a restricted Youla parametrization of the controller. Experimental results are included.

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Computer Control of A Powered Two Degree Freedom Reciprocating Gait Orthosis