Modeling and simulation of powered hippo orthosis by pneumatic actuators

Gyoosuk Kim, Shinill Kang, Hyeonseok Cho, Jeicheong Ryu, Museoung Mun, Kyunghoon Kim

Research output: Contribution to journalArticlepeer-review

13 Citations (Scopus)


In this study, a simulation model for a powered hip orthosis (PHO) with air muscles to predict the gait of paraplegics is presented which can be used as a design tool for hip orthoses. Before simulation, mathematical models for a human dummy with an orthosis and a pneumatic muscle actuator were generated. For the air muscle, coefficients required were obtained by static and dynamic experiments of the air muscle and experiments for the valve controlling the air pressure. The computation was conducted on the ADAMS package together with MATLAB. Computer simulation of the flexion of hip joints by the pneumatic muscle results in similar values to those from gait analysis. With the development of a simulation model for a PHO, the gait simulation model using pneumatic muscles can be used to analyze and evaluate the characteristics and efficiency of a PHO by setting the input and boundary conditions.

Original languageEnglish
Pages (from-to)59-66
Number of pages8
JournalInternational Journal of Control, Automation and Systems
Issue number1
Publication statusPublished - 2010 Feb

Bibliographical note

Funding Information:
Manuscript received October 30, 2008; revised July 19, 2009; accepted October 4, 2009. Recommended by Editorial Board member Hyoukryeol Choi under the direction of Editor Jae-Bok Song. This work was supported by a grant from the Korea Health 21 R&D Project, Ministry of Health and Welfare, Republic of Korea (02-PJ3-PG6-EV03-0004).

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications


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