University of Twente Student Theses


Control of soft robotic knee brace treating ACL lesion using iterative learning

Jansen, J. (2021) Control of soft robotic knee brace treating ACL lesion using iterative learning.

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Abstract:Anterior Cruciate Ligament (ACL) is one of the stabilizing ligaments present in the knee joint. An ACL rupture is the most common knee injury, dramatically altering the biomechanics of the knee joint. Most important decreasing the knee stability. Improper treatment has serious complications, such as osteoarthritis. This study focuses on designing a control system for a pneumatically actuated robotic knee brace. The goal is to lift limitations, such as partial motion impairment and passive stiffness, of a traditional passive brace while returning healthy knee stability tailored to the specific patient. At first the focus application is human gait (walking). The design is focused on exploiting the iterative behaviour of this activity and learning from past iterations to improve the control signal. Due to the COVID-19 pandemic physical lab access was prohibited, as a consequence a specific knee model in Simulink is made to allow validation of the control design virtually.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:44 medicine, 50 technical science in general, 52 mechanical engineering
Programme:Electrical Engineering MSc (60353)
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