Towards foot-drop correction using a simulation of bio-inspired robotic legs

Omer Eldirdiry; Riadh Zaier; Issam Bahadur; Amur Al-Yahmedi; Ammar Boudaka

doi:10.1109/ICARM.2019.8834313

Towards foot-drop correction using a simulation of bio-inspired robotic legs

Omer Eldirdiry^*, Riadh Zaier, Issam Bahadur, Amur Al-Yahmedi, Ammar Boudaka

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

This paper studies the foot-drop problem via a simulation of bio-inspired robotic legs that proposes a corroborated solution for this problem along with other existing ones. A new model representation for the robotic foot, which describes the structure of the ankle-and toe-joints, is addressed. A study case with a foot-drop problem is illustrated and examined in the simulation. A novel procedure of correcting the ankle-joint, affected with foot-drop, using a conventional feedback controller is presented. The results from the simulation can be used to enhance the gait for real-life cases. The advantages of using this simulation to study various cases of foot-drop problems, as well as the significance of using this method are documented.

Original language	English
Title of host publication	2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	780-785
Number of pages	6
ISBN (Electronic)	9781728100647
DOIs	https://doi.org/10.1109/ICARM.2019.8834313
Publication status	Published - Jul 2019
Event	4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019 - Osaka, Japan Duration: Jul 3 2019 → Jul 5 2019

Publication series

Name	2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019

Conference

Conference	4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Country/Territory	Japan
City	Osaka
Period	7/3/19 → 7/5/19

ASJC Scopus subject areas

Artificial Intelligence
Control and Systems Engineering
Mechanical Engineering
Control and Optimization

Access to Document

10.1109/ICARM.2019.8834313

Cite this

Eldirdiry, O., Zaier, R., Bahadur, I., Al-Yahmedi, A., & Boudaka, A. (2019). Towards foot-drop correction using a simulation of bio-inspired robotic legs. In 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019 (pp. 780-785). Article 8834313 (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM.2019.8834313

Towards foot-drop correction using a simulation of bio-inspired robotic legs. / Eldirdiry, Omer; Zaier, Riadh ; Bahadur, Issam et al.
2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 780-785 8834313 (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Eldirdiry, O, Zaier, R , Bahadur, I , Al-Yahmedi, A & Boudaka, A 2019, Towards foot-drop correction using a simulation of bio-inspired robotic legs. in 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019., 8834313, 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019, Institute of Electrical and Electronics Engineers Inc., pp. 780-785, 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019, Osaka, Japan, 7/3/19. https://doi.org/10.1109/ICARM.2019.8834313

Eldirdiry O, Zaier R , Bahadur I , Al-Yahmedi A , Boudaka A. Towards foot-drop correction using a simulation of bio-inspired robotic legs. In 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 780-785. 8834313. (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019). doi: 10.1109/ICARM.2019.8834313

Eldirdiry, Omer ; Zaier, Riadh ; Bahadur, Issam et al. / Towards foot-drop correction using a simulation of bio-inspired robotic legs. 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 780-785 (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019).

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abstract = "This paper studies the foot-drop problem via a simulation of bio-inspired robotic legs that proposes a corroborated solution for this problem along with other existing ones. A new model representation for the robotic foot, which describes the structure of the ankle-and toe-joints, is addressed. A study case with a foot-drop problem is illustrated and examined in the simulation. A novel procedure of correcting the ankle-joint, affected with foot-drop, using a conventional feedback controller is presented. The results from the simulation can be used to enhance the gait for real-life cases. The advantages of using this simulation to study various cases of foot-drop problems, as well as the significance of using this method are documented.",

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Towards foot-drop correction using a simulation of bio-inspired robotic legs

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