Control of lower limb orthosis: simple paradigm for the control of antagonistic actuators

Abstract

In this research paper, the evaluation of control paradigm and strategy of the AIRGAIT exoskeleton's leg orthosis were analyzed using the simulation model before implementing the derived mathematical model into real system. It was conducted to determine the performances of the derived mathematical model when compared between the simulation and real system test. The simulation model was evaluated using the particle swarm optimization (PSO) method. The development of the control paradigm and strategy should enable the antagonistic mono- and bi-articular actuators in supporting each other during the control system. Furthermore, the assessment on the bi-articular actuators control was increased by omitting the mono-articular actuators at the knee joint. During the real system tests, the leg orthosis was evaluated at four gait cycle (GC) speeds of 0.28m/s, 0.35mls, 0.47m/s, and 0.70m/s. A total of 25 GCs for each GC speed was collected, and the average GC was measured and compared.