Controller design for the ankle foot orthosis for abnormal human gait

Human Gait

Foot Drop

Hemiplegic Gait

Parkinson’s Disease

Solution• Gait Data i.e. ankle angles, stiffness

• Normal Gait vs Abnormal Gait

• Controller design for abnormal gait to mimic normal gait

• Control Techniques LQR , Impedance Control

Solution

Solution

• Actuator assisted Ankle Foot Orthosis (AFO)

• Functional Electrode Stimulation (FES) assisted Ankle Foot Orthosis (AFO)

Actuator Assisted AFO

Functional Electrode Stimulation (FES)

Solution• Controller Design• Real Time Evaluation• Results

• Model the whole thing in COMSOL/ Ansys + Solid Works• Simulate • Results