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Feedback control of oxygen uptake during robot-assisted gait

Pennycott, Andrew ; Hunt, Kenneth J. ; Coupaud, Sylvie ; Allan, David B. ; Kakebeeke, Tanja H.

In: IEEE Transactions on Control Systems Technology, 2010, vol. 18, no. 1, p. 136-142

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,...