Pennycott, A., Hunt, K.J., Coupaud, S., Allan, D.B. and Kakebeeke, T.H. (2010) Feedback Control of Oxygen Uptake During Robot-Assisted Gait. IEEE Transactions on Control Systems Technology, 18(1), pp. 136-142. (doi: 10.1109/TCST.2008.2009465)
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Publisher's URL: http://dx.doi.org/10.1109/TCST.2008.2009465
Abstract
Body-weight-supported robot-assisted devices can be used to promote gait rehabilitation and as exercise tools for neurologically impaired persons such as stroke and spinal-cord-injured patients. Here, we propose a novel feedback-control structure for real-time control of oxygen uptake during robot-assisted gait, in which we use the following methods. 1) A feedback-control structure is proposed, consisting of a dynamic controller operating on target and actual levels of oxygen uptake in order to set a target work rate. Target work rate is achieved by an inner volitional feedback loop which relies on the subject's exercise input. 2) The dynamic oxygen-uptake controller is based on an empirically derived model of the oxygen-uptake dynamics and is synthesized by pole placement. 3) The resulting control system is tested during the robot-assisted treadmill ambulation of five able-bodied subjects. A single linear controller was designed based on identification data from tests with one subject and used for closed-loop control tests with all five subjects. In all cases, the actual oxygen-uptake response closely followed the ideal response as specified by the feedback design parameters. The control of oxygen uptake during body-weight-supported robot-assisted ambulation is feasible in the able-bodied population; the robustness of the system is demonstrated within the class of subjects tested. Further testing is required to validate the approach with neurologically impaired subjects.
Item Type: | Articles |
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Status: | Published |
Refereed: | Yes |
Glasgow Author(s) Enlighten ID: | Hunt, Prof Kenneth and Coupaud, Dr Sylvie |
Authors: | Pennycott, A., Hunt, K.J., Coupaud, S., Allan, D.B., and Kakebeeke, T.H. |
College/School: | College of Science and Engineering > School of Engineering > Systems Power and Energy College of Science and Engineering > School of Engineering > Biomedical Engineering |
Journal Name: | IEEE Transactions on Control Systems Technology |
ISSN: | 1063-6536 |
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