Feedback control of oxygen uptake during robot-assisted gait
Pennycott, Andrew and Hunt, Kenneth and Coupaud, Sylvie and Allan, David (2010) Feedback control of oxygen uptake during robot-assisted gait. IEEE Transactions on Control Systems Technology, 18 (1). pp. 136-142. ISSN 1063-6536
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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.
| Creators(s): |
Pennycott, Andrew, Hunt, Kenneth, Coupaud, Sylvie  ORCID: https://orcid.org/0000-0003-3595-3402 and Allan, David;
| Item type: | Article |
|---|---|
| ID code: | 41926 |
| Keywords: | control, cardiovascular, spinal cord injury, robotics, exercise test, feedback control, oxygen uptake, robot assisted gait, Bioengineering, Control and Systems Engineering, Electrical and Electronic Engineering |
| Subjects: | Technology > Engineering (General). Civil engineering (General) > Bioengineering |
| Department: | Faculty of Engineering > Biomedical Engineering |
| Depositing user: | Pure Administrator |
| Date deposited: | 05 Nov 2012 16:00 |
| Last modified: | 20 Jan 2021 20:25 |
| URI: | https://strathprints.strath.ac.uk/id/eprint/41926 |
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