Estimating Ground Inclination Using Strain Sensors with Fourier Series Representation

Figure 3

(a) Reference ankle angle ${\beta }_r$ and actual angle $\beta$ of an unloaded AFO give a control error $e$ in inclinations. Below: Ankle position of a biological foot during mid-stance while using compensating keels with resulting control error $e$. (b) The keel angle $\delta$ is chosen so that $e=0$ and (c) is the error shown as the angle between the actual orthosis and the vertical “desired” direction (dotted).

(a)

(b)

(c)