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Title: | Feedback-Error Learning for Gait Rehabilitation Using a Powered Knee Orthosis: First Advances |
Authors: | Nuno Fernandes, Pedro; Carvalho, Simão; Figueiredo, Joana; Moreno, Juan Camilo ![]() |
Keywords: | adaptive control control engineering computing feedback feedforward gait analysis learning (artificial intelligence) neurocontrollers orthotics patient rehabilitation stability three-term control trajectory control |
Issue Date: | 22-Feb-2019 |
Publisher: | Institute of Electrical and Electronics Engineers |
Citation: | 2019 IEEE 6th Portuguese Meeting on Bioengineering (ENBENG) in Lisbon, Portugal, 22 February 2019. |
Abstract: | Powered assistive devices have been playing a major role in gait rehabilitation. Hereby, the development of time-effective control strategies to manage such devices is a key concern to rehabilitation engineering. This paper presents a real-time Feedback-Error Learning control strategy, by means of an Artificial Neural Network as a feedforward controller to acquire the inverse model of the plant, and a Proportional-Integral-Derivative feedback controller to guarantee stability and handle with disturbances. A Powered Knee Orthosis was used as the assistive device and a trajectory generator assistive strategy, previously acquired through an inertial system, was applied. A validation with one subject walking in a treadmill at 1 km/h with the Powered Knee Orthosis controlled by the Feedback-Error Learning control was performed. Evidences on the control behavior presented good performances, with the Artificial Neural Network taking 90 seconds to learn the inverse model, which enabled a decrease in the angular position error by 75% and eliminated the phase delay, when compared to solo Proportional-Integral-Derivative feedback controller. Robust reactions to external disturbances were also achieved. The implemented Feedback-Error Learning strategy proves to be a time-effective asset to control assistive powered devices. |
Description: | Trabajo presentado en 2019 IEEE 6th Portuguese Meeting on Bioengineering (ENBENG) en Lisboa, Portugal, el 22 de Febrero de 2019. |
Publisher version (URL): | http://dx.doi.org/10.1109/ENBENG.2019.8692502 |
URI: | http://hdl.handle.net/10261/209375 |
DOI: | 10.1109/ENBENG.2019.8692502 |
Identifiers: | doi: 10.1109/ENBENG.2019.8692502 isbn: 978-1-5386-8506-8 |
Appears in Collections: | (IC) Comunicaciones congresos |
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