1. Date of download: 1/2/2018
Copyright © ASME. All rights reserved.
From: Modeling and Control Considerations for Powered Lower-Limb Orthoses: A Design Study for Assisted STS
J. Med. Devices. 2006;1(2): doi: /
Figure Legend:
Link segment model of the sit-to-stand task

2. Date of download: 1/2/2018
Copyright © ASME. All rights reserved.
From: Modeling and Control Considerations for Powered Lower-Limb Orthoses: A Design Study for Assisted STS
J. Med. Devices. 2006;1(2): doi: /
Figure Legend:
Schematic of the Tradition X2K knee brace. A lever arm and actuator cable lspan are modifications to the brace. Inset is a photograph of the unmodified brace.

3. Date of download: 1/2/2018
Copyright © ASME. All rights reserved.
From: Modeling and Control Considerations for Powered Lower-Limb Orthoses: A Design Study for Assisted STS
J. Med. Devices. 2006;1(2): doi: /
Figure Legend:
Static force–length–pressure curve for a MAS-10 with exponential best fit. The curves with markers represent the actual data, while the curves without markers represent the best fit. Utilized working area of the PMA for the powered lower-limb orthosis is shaded.

4. Date of download: 1/2/2018
Copyright © ASME. All rights reserved.
From: Modeling and Control Considerations for Powered Lower-Limb Orthoses: A Design Study for Assisted STS
J. Med. Devices. 2006;1(2): doi: /
Figure Legend:
Dynamic PMA model

5. Date of download: 1/2/2018
Copyright © ASME. All rights reserved.
From: Modeling and Control Considerations for Powered Lower-Limb Orthoses: A Design Study for Assisted STS
J. Med. Devices. 2006;1(2): doi: /
Figure Legend:
Flow diagram of PMA model

6. Date of download: 1/2/2018
Copyright © ASME. All rights reserved.
From: Modeling and Control Considerations for Powered Lower-Limb Orthoses: A Design Study for Assisted STS
J. Med. Devices. 2006;1(2): doi: /
Figure Legend:
Speed–tension requirement of dc motor and working ranges of various spindle radii

7. Date of download: 1/2/2018
Copyright © ASME. All rights reserved.
From: Modeling and Control Considerations for Powered Lower-Limb Orthoses: A Design Study for Assisted STS
J. Med. Devices. 2006;1(2): doi: /
Figure Legend:
Assistive control system

8. Date of download: 1/2/2018
Copyright © ASME. All rights reserved.
From: Modeling and Control Considerations for Powered Lower-Limb Orthoses: A Design Study for Assisted STS
J. Med. Devices. 2006;1(2): doi: /
Figure Legend:
Required torque versus position of the knee

9. Date of download: 1/2/2018
Copyright © ASME. All rights reserved.
From: Modeling and Control Considerations for Powered Lower-Limb Orthoses: A Design Study for Assisted STS
J. Med. Devices. 2006;1(2): doi: /
Figure Legend:
Reduction complexity of PMA actuated orthosis control

10. Date of download: 1/2/2018
Copyright © ASME. All rights reserved.
From: Modeling and Control Considerations for Powered Lower-Limb Orthoses: A Design Study for Assisted STS
J. Med. Devices. 2006;1(2): doi: /
Figure Legend:
PMA pressure controller architecture

11. Date of download: 1/2/2018
Copyright © ASME. All rights reserved.
From: Modeling and Control Considerations for Powered Lower-Limb Orthoses: A Design Study for Assisted STS
J. Med. Devices. 2006;1(2): doi: /
Figure Legend:
dc motor torque controller architecture

12. Date of download: 1/2/2018
Copyright © ASME. All rights reserved.
From: Modeling and Control Considerations for Powered Lower-Limb Orthoses: A Design Study for Assisted STS
J. Med. Devices. 2006;1(2): doi: /
Figure Legend:
Overview of the simulation setup

13. Date of download: 1/2/2018
Copyright © ASME. All rights reserved.
From: Modeling and Control Considerations for Powered Lower-Limb Orthoses: A Design Study for Assisted STS
J. Med. Devices. 2006;1(2): doi: /
Figure Legend:
Orthosis torques for: (a) slow, (b) natural; and (c) fast STS trials. The control signal is based on an actual STS task, and the torque is provided as soon as STS begins. The dynamics are included in the torque output of the actuators.