Adaptive control of an actuated-ankle-foot-orthosis

This paper deals with the control of an active ankle foot orthosis (AAFO) to assist the gait of paretic patients. The AAFO system is driven by both, the residual human torque delivered by the muscles spanning the ankle joint and the AAFO's actuator's torque. A projection-based model reference adaptive control is proposed to assist dorsiflexion and plantar-flexion of the ankle joint during daily living walking activities. Unlike most classical model-based controllers, the proposed one does not require any prior estimation of the system's (foot-AAFO) parameters. The ankle reference trajectory was extracted from healthy subjects gait activities in a clinical environment. The input-to-state stability of the foot-AAFO system with respect to a bounded human muscular torque is proved in closed-loop based on a Lyapunov analysis. Preliminary experimental results with a healthy subject walking on a treadmill, show satisfactory results in terms of tracking performance and ankle assistance throughout the gait cycle.