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dc.contributor.authorNuno Fernandes, Pedro-
dc.contributor.authorCarvalho, S.-
dc.contributor.authorFigueiredo, J.-
dc.contributor.authorMoreno, Juan Camilo-
dc.contributor.authorSantos, Cristina P.-
dc.identifierdoi: 10.1109/ENBENG.2019.8692502-
dc.identifier.citation2019 IEEE 6th Portuguese Meeting on Bioengineering (ENBENG). 22-23 Feb. 2019. Lisbon, Portugal-
dc.description2019 IEEE 6th Portuguese Meeting on Bioengineering (ENBENG). 22-23 Feb. 2019. Lisbon, Portugal-
dc.description.abstractPowered 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.-
dc.description.sponsorshipThis work has been supported in part by the Fundação para a Ciência e Tecnologia (FCT) with the Reference Scholarship under Grant SFRH/BD/108309/2015, and part by the FEDER Funds through the Programa Operacional Regional do Norte and national funds from FCT with the project SmartOs -Controlo Inteligente de um Sistema Ortótico Ativo e Autónomo- under Grant NORTE-01-0145-FEDER-030386, and by the FEDER Funds through the COMPETE 2020—Programa Operacional Competitividade e Internacionalização (POCI)—with the Reference Project under Grant POCI-01-0145-FEDER-006941 and supported by grant RYC-2014-16613 by Spanish Ministry of Economy and Competitiveness.-
dc.publisherInstitute of Electrical and Electronics Engineers-
dc.relation.isversionofPublisher's version-
dc.titleFeedback-Error Learning for Gait Rehabilitation Using a Powered Knee Orthosis: First Advances-
dc.typecomunicación de congreso-
dc.contributor.funderFundação para a Ciência e a Tecnologia (Portugal)-
dc.contributor.funderEuropean Commission-
dc.contributor.funderMinisterio de Economía y Competitividad (España)-
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