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dc.contributor.authorFont Llagunes, Josep Maria
dc.contributor.authorRomero, Francisco
dc.contributor.authorHosseinNia, S.H.
dc.contributor.authorAlonso, Francisco Javier
dc.contributor.authorVinagre, Blas M.
dc.contributor.authorLugrís, Urbano
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica
dc.date.accessioned2011-12-07T08:50:30Z
dc.date.available2011-12-07T08:50:30Z
dc.date.created2011
dc.date.issued2011
dc.identifier.citationFont-Llagunes, J.M. [et al.]. A powered lower limb orthosis to assist the gait of incomplete spinal cord injured patients. A: Congreso Anual de la Sociedad Española de Ingeniería Biomédica. "XXIX Congreso Anual de la Sociedad Española de Ingeniería Biomédica". Cáceres: 2011, p. 129-132.
dc.identifier.isbn978-84-614-2693-4
dc.identifier.urihttp://hdl.handle.net/2117/14173
dc.description.abstractThis paper addresses the mechanical design and control of a new active stance-control knee-ankle-foot orthosis. The orthosis is intended to provide gait assistance for incomplete spinal cord injured patients with functional hip muscles, but partially denervated knee and ankle muscles. This device consists of a passive compliant joint that constrains ankle plantar flexion, along with a powered knee unit that prevents knee flexion during stance and controls flexion-extension during swing. For this purpose, the knee joint incorporates a controllable mechanical locking system and an electrical DC motor. Based on human walking biomechanics, a hybrid control model is proposed. This model takes into account the parameters of the orthosis and the characteristics of the gait cycle, which is divided in eight different phases. A fractional order controller is designed following decision based control techniques.
dc.format.extent4 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica
dc.subject.lcshKnee--Fractures
dc.subject.lcshSpinal cord Wounds and injuries
dc.titleA powered lower limb orthosis to assist the gait of incomplete spinal cord injured patients
dc.typeConference report
dc.subject.lemacBiomecànica -- Aparell locomotor
dc.identifier.dlCC-001141-2011
dc.rights.accessRestricted access - publisher's policy
drac.iddocument8734782
dc.description.versionPostprint (published version)
upcommons.citation.authorFont-Llagunes, J.M.; Romero, F.; HosseinNia, S.; Alonso, F.J.; Vinagre, B.M.; Lugrís, U.
upcommons.citation.contributorCongreso Anual de la Sociedad Española de Ingeniería Biomédica
upcommons.citation.pubplaceCáceres
upcommons.citation.publishedtrue
upcommons.citation.publicationNameXXIX Congreso Anual de la Sociedad Española de Ingeniería Biomédica
upcommons.citation.startingPage129
upcommons.citation.endingPage132


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Except where otherwise noted, content on this work is licensed under a Creative Commons license: Attribution-NonCommercial-NoDerivs 3.0 Spain