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 proceedingConference contribution

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 languageEnglish
Title of host publication2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages780-785
Number of pages6
ISBN (Electronic)9781728100647
DOIs
Publication statusPublished - Jul 1 2019
Event4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019 - Osaka, Japan
Duration: Jul 3 2019Jul 5 2019

Publication series

Name2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019

Conference

Conference4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
CountryJapan
CityOsaka
Period7/3/197/5/19

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization

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