A hybrid orthosis combining functional electrical stimulation and soft robotics for improved assistance of drop-foot
A hybrid orthosis combining functional electrical stimulation and soft robotics for improved assistance of drop-foot
Drop-foot is characterised by an inability to lift the foot, and affects an estimated 3 million people worldwide. Current treatment methods include rigid splints, electromechanical systems, and functional electrical stimulation (FES). However, these all have limitations, with electromechanical systems being bulky and FES leading to muscle fatigue.
This paper addresses the limitations with current treatments by developing a novel orthosis combining FES with a pneumatic artificial muscle (PAM). It is the first system to combine FES and soft robotics for application to the lower limb, as well as the first to employ a model of their interaction within the control scheme. The system embeds a hybrid controller based on model predictive control (MPC), which combines FES and PAM components to optimally balance gait cycle tracking, fatigue reduction and pressure demands. Model parameters are found using a clinically feasible model identification procedure.
Experimental evaluation using the system with three healthy subjects demonstrated a reduction in fatigue compared with the case of only using FES, which is supported by numerical simulation results.
Assistive technology, Drop foot, Electrical stimulation, Feedback control, Hybrid orthosis, Soft robotics
1-11
Hodgins, Lucy
d1763310-21e5-4241-93ba-dd0fe4f5413c
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
May 2023
Hodgins, Lucy
d1763310-21e5-4241-93ba-dd0fe4f5413c
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Hodgins, Lucy and Freeman, Christopher
(2023)
A hybrid orthosis combining functional electrical stimulation and soft robotics for improved assistance of drop-foot.
Medical Engineering & Physics, 115, , [103979].
(doi:10.1016/j.medengphy.2023.103979).
Abstract
Drop-foot is characterised by an inability to lift the foot, and affects an estimated 3 million people worldwide. Current treatment methods include rigid splints, electromechanical systems, and functional electrical stimulation (FES). However, these all have limitations, with electromechanical systems being bulky and FES leading to muscle fatigue.
This paper addresses the limitations with current treatments by developing a novel orthosis combining FES with a pneumatic artificial muscle (PAM). It is the first system to combine FES and soft robotics for application to the lower limb, as well as the first to employ a model of their interaction within the control scheme. The system embeds a hybrid controller based on model predictive control (MPC), which combines FES and PAM components to optimally balance gait cycle tracking, fatigue reduction and pressure demands. Model parameters are found using a clinically feasible model identification procedure.
Experimental evaluation using the system with three healthy subjects demonstrated a reduction in fatigue compared with the case of only using FES, which is supported by numerical simulation results.
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Accepted/In Press date: 6 April 2023
e-pub ahead of print date: 11 April 2023
Published date: May 2023
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Publisher Copyright:
© 2023 The Author(s)
Keywords:
Assistive technology, Drop foot, Electrical stimulation, Feedback control, Hybrid orthosis, Soft robotics
Identifiers
Local EPrints ID: 476478
URI: http://eprints.soton.ac.uk/id/eprint/476478
ISSN: 1350-4533
PURE UUID: 8df96a05-868d-4dab-8d08-a27856f063fd
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Date deposited: 03 May 2023 17:13
Last modified: 17 Mar 2024 01:40
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Author:
Lucy Hodgins
Author:
Christopher Freeman
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