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

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...

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Bibliographic Details
Published in:Medical engineering & physics 2012-05, Vol.34 (4), p.397-408
Main Authors: Jiménez-Fabián, R, Verlinden, O
Format: Article
Language:English
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
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Summary: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.
ISSN:1350-4533
1873-4030
DOI:10.1016/j.medengphy.2011.11.018