Development of the Control Algorithms for the Semiautomatic Orthosis Devices

Abstract

This paper is devoted to the research and development of the control techniques for the semiautomatic orthosis devices of human limbs. Such devices are used for rehabilitation of the human limbs after various injuries or diseases. The designed or-thosis devices should be equipped with a set of the force-sensors, adaptive control algorithms and software for an intellectual adjustment to a patient. This allows creation of a reliable system for rehabilitation. Force-sensors are used to obtain information from a patient during walking. Based on this data the designed controller forms the desired control for the assistance device to provide support for the patient. Also, there is a manual control mode. In this mode the controller receives commands from a patient via a human-machine interface. The fixation system represented by a motor or an air pump adjusts the orthosis with the optimal force on the patient's limb. The current parameters are sent to an LCD monitor. The experiments demonstrated forces from the patients' feet during different physical exercises. The parameters for an air pump switching were obtained. These parameters were used for the control algorithms in the controller.