Robotics application within bioengineering: Neuroprosthesis test bench and model based neural control for a robotic leg

Abstract

This work deals with motion analysis of the human body, with robotic leg control and then with neuroprosthesis test bench. The issues raised in motion analysis are of interest for controlling motion-specific parameters for movement of the robotic leg. The resulting data are used for further processing in humanoid robotics and assistive and recuperative technologies for people with disabilities. The results are implemented on a robotic leg, which has been developed in our laboratories. It has been used to build a neuroprosthesis control test bench. A model based neural control strategy is implemented, too. The performances of the implemented control strategies for trajectory tracking are analysed by computer simulation. © 2011 Springer-Verlag Berlin Heidelberg.