University of Twente Student Theses


Evaluation of a Force Controlled Pneumatically Actuated Knee Orthosis

Klein Rot, J.E. (2021) Evaluation of a Force Controlled Pneumatically Actuated Knee Orthosis.

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Abstract:In this thesis, a pneumatically actuated knee orthosis is evaluated based on the performance of the force control mechanism, the performance of the assistive strategy and the motion of the orthosis with respect to the body. This orthosis is designed according to the inverted muscle skeleton approach, which inverts biology to provide assistance. The orthosis can operate in minimal impedance mode and assistive mode. In assistive mode, an extension torque related to the knee joint angle is provided during the stance phase. During the experimental validation, in which five subjects participated, a static trial and walking trials were performed, with the orthosis in minimal impedance and assistive mode. The force controller performed well in terms of force tracking error. It was smaller for the minimal impedance mode trials compared to the assistive mode trials. The assistive strategy performed well in terms of gait interference. The gait phase duration was not interfered by the provided assistance. The knee joint angle was not interfered by the provided assistance during the swing phase. It was interfered during the stance phase, as intended by the assistive strategy. The orthosis moved with respect to the body in terms of relative displacement and relative rotation.
Item Type:Essay (Master)
Faculty:ET: Engineering Technology
Subject:50 technical science in general, 52 mechanical engineering
Programme:Biomedical Engineering MSc (66226)
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