Modeling and control of an active knee orthosis using a computational model of the musculoskeletal system

摘要

One-third of the stroke survivors remain with some disability, needing assistance to perform the activities of daily life and therapy to recover the lost functions. The robotic rehabilitation is a promissed field in this context improving the effectiveness of the treatment. Many researches have focused on developing human-robot interaction control to ensure user safety and therapy efficiency, but the validation of these controllers often requires contact between humans and robots, which involves cost, time and risk of accidents. This work aims to present a computational model of an ideal active orthosis used to assist the knee movement as a tool for test and validate human-robot interaction controls. Three controllers were applied to make the orthosis move the knee tracking the desired trajectory: a PID controller, an Inverse Dynamics-Based controller, and a Feedback-Feedforward Controller. The model proved to be useful and the controller with the best performance was the Feedback-Feedforward one.