A closed-loop control system to be used a hybrid RGO system

A closed-loop control system for use with an hybrid reciprocating gait orthosis (RGO) has been developed. This control system uses two goniometers that measure the hip angle. The controller is based on a 68HC11 microcontroller. The controller has open-loop routines for standing up and sitting down and a routine for closed-loop gait. The control method used is hierarchical, having as an upper level a rule-based control and as a lower level an on/off control. The functional electrical stimulation needed to take each step can be interrupted either by pressing the contralateral button or when the angle between the two hips reaches a certain value. Even though no clinical tests have been made yet, the system has been bench-tested and it can be said that it will add the benefits of feedback control to those of the open-loop hybrid orthosis.<
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