Cart (Loading....) | Create Account
Close category search window
 

A Robotic Cadaveric Gait Simulator With Fuzzy Logic Vertical Ground Reaction Force Control

Sign In

Full text access may be available.

To access full text, please use your member or institutional sign in.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Aubin, P.M. ; Dept. of Electr. Eng., Univ. of Washington, Seattle, WA, USA ; Whittaker, E. ; Ledoux, W.R.

Lower limb dynamic cadaveric gait simulators are useful to investigate the biomechanics of the foot and ankle, but many systems have several common limitations, which include simplified tendon forces, nonphysiologic tibial kinematics, greatly reduced velocities, scaled body weight (BW), and, most importantly, trial-and-error vertical ground reaction force (vGRF) control. This paper presents the design, development, and validation of the robotic gait simulator (RGS), which addresses these limitations. A 6-degrees-of-freedom (6-DOF) parallel robot was utilized as part of the RGS to recreate the relative tibia to ground motion. A custom-designed nine-axis proportional-integral-derivative (PID) force-control tendon actuation system provided force to the extrinsic tendons of the cadaveric lower limb. A fuzzy logic vGRF controller was developed, which altered tendon forces in real time and iteratively adjusted the robotic trajectory in order to track a target vGRF. The RGS was able to accurately reproduce 6-DOF tibial kinematics, tendon forces, and vGRF with a cadaveric lower limb. The fuzzy logic vGRF controller was able to track the target in vivo vGRF with an average root-mean-square error of only 5.6% BW during a biomechanically realistic 3/4 BW, 2.7-s stance phase simulation.

Published in:

Robotics, IEEE Transactions on  (Volume:28 ,  Issue: 1 )

Date of Publication:

Feb. 2012

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.