Control Reference Parameter for Stance Assistance Using a Passive Controlled Ankle Foot Orthosis—A Preliminary Study
This paper aims to present a preliminary study of control reference parameters for stance assistance among different subjects and walking speeds using a passive-controlled ankle foot orthosis. Four young male able-bodied subjects with varying body mass indexes (23.842 ± 4.827) walked in thr...
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doaj-2f5e7f55092d41ad88e4f777f79e53b52020-11-25T01:56:43ZengMDPI AGApplied Sciences2076-34172019-10-01920441610.3390/app9204416app9204416Control Reference Parameter for Stance Assistance Using a Passive Controlled Ankle Foot Orthosis—A Preliminary StudyDimas Adiputra0Mohd Azizi Abdul Rahman1Ubaidillah2Saiful Amri Mazlan3Nurhazimah Nazmi4Muhammad Kashfi Shabdin5Jun Kobayashi6Mohd Hatta Mohammed Ariff7Advanced Vehicle System Research Group, Universiti Teknologi Malaysia, 54100 Kuala Lumpur, MalaysiaAdvanced Vehicle System Research Group, Universiti Teknologi Malaysia, 54100 Kuala Lumpur, MalaysiaDepartment of Mechanical Engineering, Universitas Sebelas Maret, 57126 Surakarta, IndonesiaAdvanced Vehicle System Research Group, Universiti Teknologi Malaysia, 54100 Kuala Lumpur, MalaysiaAdvanced Vehicle System Research Group, Universiti Teknologi Malaysia, 54100 Kuala Lumpur, MalaysiaAdvanced Vehicle System Research Group, Universiti Teknologi Malaysia, 54100 Kuala Lumpur, MalaysiaFaculty of Computer Science and Systems Engineering, Kyushu Institute of Technology, 804-8550 Kitakyushu, JapanAdvanced Vehicle System Research Group, Universiti Teknologi Malaysia, 54100 Kuala Lumpur, MalaysiaThis paper aims to present a preliminary study of control reference parameters for stance assistance among different subjects and walking speeds using a passive-controlled ankle foot orthosis. Four young male able-bodied subjects with varying body mass indexes (23.842 ± 4.827) walked in three walking speeds of 1, 3, and 5 km/h. Two control references, average ankle torque (aMa), and ankle angular velocity (aω), which can be implemented using a magnetorheological brake, were measured. Regression analysis was conducted to identify suitable control references in the three different phases of the stance. The results showed that aω has greater correlation (p) with body mass index and walking speed compared to aMa in the whole stance phase (p1(aω) = 0.666 > p1(aMa) = 0.560, p2(aω) = 0.837 > p2(aMa) = 0.277, and p3(aω) = 0.839 > p3(aMa) = 0.369). The estimation standard error (Se) of the aMa was found to be generally higher than of aω (Se1(aMa) = 2.251 > Se1(aω) = 0.786, Se2(aMa) = 1.236 > Se2(aω) = 0.231, Se3(aMa) = 0.696 < Se3(aω) = 0.755). Future studies should perform aω estimation based on body mass index and walking speed, as suggested by the higher correlation and lower standard error as compared to aMa. The number of subjects and walking speed scenarios should also be increased to reduce the standard error of control reference parameters estimation.https://www.mdpi.com/2076-3417/9/20/4416control parameter referencestance assistancemagnetorheological brakebody mass indexwalking speedankle torqueankle angular velocity |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Dimas Adiputra Mohd Azizi Abdul Rahman Ubaidillah Saiful Amri Mazlan Nurhazimah Nazmi Muhammad Kashfi Shabdin Jun Kobayashi Mohd Hatta Mohammed Ariff |
spellingShingle |
Dimas Adiputra Mohd Azizi Abdul Rahman Ubaidillah Saiful Amri Mazlan Nurhazimah Nazmi Muhammad Kashfi Shabdin Jun Kobayashi Mohd Hatta Mohammed Ariff Control Reference Parameter for Stance Assistance Using a Passive Controlled Ankle Foot Orthosis—A Preliminary Study Applied Sciences control parameter reference stance assistance magnetorheological brake body mass index walking speed ankle torque ankle angular velocity |
author_facet |
Dimas Adiputra Mohd Azizi Abdul Rahman Ubaidillah Saiful Amri Mazlan Nurhazimah Nazmi Muhammad Kashfi Shabdin Jun Kobayashi Mohd Hatta Mohammed Ariff |
author_sort |
Dimas Adiputra |
title |
Control Reference Parameter for Stance Assistance Using a Passive Controlled Ankle Foot Orthosis—A Preliminary Study |
title_short |
Control Reference Parameter for Stance Assistance Using a Passive Controlled Ankle Foot Orthosis—A Preliminary Study |
title_full |
Control Reference Parameter for Stance Assistance Using a Passive Controlled Ankle Foot Orthosis—A Preliminary Study |
title_fullStr |
Control Reference Parameter for Stance Assistance Using a Passive Controlled Ankle Foot Orthosis—A Preliminary Study |
title_full_unstemmed |
Control Reference Parameter for Stance Assistance Using a Passive Controlled Ankle Foot Orthosis—A Preliminary Study |
title_sort |
control reference parameter for stance assistance using a passive controlled ankle foot orthosis—a preliminary study |
publisher |
MDPI AG |
series |
Applied Sciences |
issn |
2076-3417 |
publishDate |
2019-10-01 |
description |
This paper aims to present a preliminary study of control reference parameters for stance assistance among different subjects and walking speeds using a passive-controlled ankle foot orthosis. Four young male able-bodied subjects with varying body mass indexes (23.842 ± 4.827) walked in three walking speeds of 1, 3, and 5 km/h. Two control references, average ankle torque (aMa), and ankle angular velocity (aω), which can be implemented using a magnetorheological brake, were measured. Regression analysis was conducted to identify suitable control references in the three different phases of the stance. The results showed that aω has greater correlation (p) with body mass index and walking speed compared to aMa in the whole stance phase (p1(aω) = 0.666 > p1(aMa) = 0.560, p2(aω) = 0.837 > p2(aMa) = 0.277, and p3(aω) = 0.839 > p3(aMa) = 0.369). The estimation standard error (Se) of the aMa was found to be generally higher than of aω (Se1(aMa) = 2.251 > Se1(aω) = 0.786, Se2(aMa) = 1.236 > Se2(aω) = 0.231, Se3(aMa) = 0.696 < Se3(aω) = 0.755). Future studies should perform aω estimation based on body mass index and walking speed, as suggested by the higher correlation and lower standard error as compared to aMa. The number of subjects and walking speed scenarios should also be increased to reduce the standard error of control reference parameters estimation. |
topic |
control parameter reference stance assistance magnetorheological brake body mass index walking speed ankle torque ankle angular velocity |
url |
https://www.mdpi.com/2076-3417/9/20/4416 |
work_keys_str_mv |
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