<oai_dc:dc xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:oai_dc="http://www.openarchives.org/OAI/2.0/oai_dc/" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.openarchives.org/OAI/2.0/oai_dc/ http://www.openarchives.org/OAI/2.0/oai_dc.xsd">
  <dc:creator>Pennycott, Andrew</dc:creator>
  <dc:creator>Hunt, Kenneth J.</dc:creator>
  <dc:creator>Coupaud, Sylvie</dc:creator>
  <dc:creator>Allan, David B.</dc:creator>
  <dc:creator>Kakebeeke, Tanja H.</dc:creator>
  <dc:date>2009-04-28</dc:date>
  <dc:description xmlns:ns0="xml" ns0:lang="en">Body-weight-supported robot-assisted devices can be used to promote gait rehabilitation and as exercise tools for neurologically impaired persons such as stroke and spinal-cord-injured patients. Here, we propose a novel feedback-control structure for real-time control of oxygen uptake during robot-assisted gait, in which we use the following methods. 1) A feedback-control structure is proposed, consisting of a dynamic controller operating on target and actual levels of oxygen uptake in order to set a target work rate. Target work rate is achieved by an inner volitional feedback loop which relies on the subject's exercise input. 2) The dynamic oxygen-uptake controller is based on an empirically derived model of the oxygen-uptake dynamics and is synthesized by pole placement. 3) The resulting control system is tested during the robot-assisted treadmill ambulation of five able-bodied subjects. A single linear controller was designed based on identification data from tests with one subject and used for closed-loop control tests with all five subjects. In all cases, the actual oxygen-uptake response closely followed the ideal response as specified by the feedback design parameters. The control of oxygen uptake during body-weight-supported robot-assisted ambulation is feasible in the able-bodied population; the robustness of the system is demonstrated within the class of subjects tested. Further testing is required to validate the approach with neurologically impaired subjects.</dc:description>
  <dc:format>application/pdf</dc:format>
  <dc:identifier>https://folia.unifr.ch/global/documents/301506</dc:identifier>
  <dc:identifier>https://folia.unifr.ch/documents/301506/files/kak_fco.pdf</dc:identifier>
  <dc:language>eng</dc:language>
  <dc:relation>info:eu-repo/semantics/altIdentifier/doi/10.1109/TCST.2008.2009465</dc:relation>
  <dc:rights>info:eu-repo/semantics/openAccess</dc:rights>
  <dc:rights>License undefined</dc:rights>
  <dc:source>IEEE Transactions on Control Systems Technology. - 2010, vol. 18, no. 1, p. 136-142</dc:source>
  <dc:subject xmlns:ns1="xml" ns1:lang="en">Feedback control</dc:subject>
  <dc:subject xmlns:ns2="xml" ns2:lang="en">rehabilitation engineering</dc:subject>
  <dc:subject xmlns:ns3="xml" ns3:lang="en">robot-assisted gait</dc:subject>
  <dc:subject xmlns:ns4="xml" ns4:lang="en">spinal-cord injury</dc:subject>
  <dc:subject xmlns:ns5="xml" ns5:lang="en">system identification</dc:subject>
  <dc:subject>info:eu-repo/classification/udc/61</dc:subject>
  <dc:title xmlns:ns6="xml" ns6:lang="en">Feedback control of oxygen uptake during robot-assisted gait</dc:title>
  <dc:type>http://purl.org/coar/resource_type/c_6501</dc:type>
</oai_dc:dc>