Computer control of a powered two degree freedom reciprocating gait orthosis
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Bashir M Y Nouri1, Arafat Zaidan
1Department of Mechanical Engineering, Faculty of Engineering, An-Najah National University, Nablus, West Bank, Palestine. bashir_nouri@yahoo.com
ISA Transactions
|May 3, 2006
Abstract:
The design of a motion control system for a powered reciprocating gait orthosis is considered. Models for the orthosis are obtained using least squares identification. The control system design is based on pole-placement techniques and a restricted Youla parametrization of the controller. Experimental results are included.
