Control of Soft Robotic Knee Brace Treating ACL Lesion Using Iterative Learning

Anterior Cruciate Ligament (ACL) is one of the stabilizing ligaments present in the knee joint. An ACL rupture is the most common knee injury, dramatically altering the biomechanics of the knee joint. Most important decreasing the knee stability. Improper treatment has serious complications, such as osteoarthritis.

This study focusses on designing a control system for a pneumatically actuated robotic knee brace. The goal is to lift limitations, such as partial motion impairment and static stiffness, of a traditional passive brace while returning healthy knee stability customizable to the patient's case.