Modeling of Motorized Orthosis Control

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Abstract
Orthotic devices are defined as externally applied devices that are used to modify the structural and functional characteristics of the neuro-muscular and skeletal systems. The aim of the current study is to improve the control and movement of a robotic arm orthosis by means of an intelligent optimization system. Firstly, the control problem settlement is defined with the muscle, brain, and arm model. Subsequently, the optimization control, which based on a differential evolution algorithm, is developed to calculate the optimum gain values. Additionally, a cost function is defined in order to control and minimize the effort that is made by the subject and to assure that the algorithm follows as close as possible the defined setpoint value. The results show that, with the optimization algorithm, the necessary development force of the muscles is close to zero and the neural excitation level of biceps and triceps signal values are getting lower with a gain increase. Furthermore, the necessary development force of the biceps muscle to overcome a load added to the orthosis control system is practically the half of the one that is necessary without the optimization algorithm.
Funding Information
  • Ekonomiaren Garapen eta Lehiakortasun Saila, Eusko Jaurlaritza (KK-2018/00109, SAIOTEK (S-PE11UN112))
  • Euskal Herriko Unibertsitatea (EHU12/26)
  • Fundación Vital Fundazioa (FP18/36)

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