A study on control mechanism of above knee robotic prosthesis based on CPG model

Xin Guo*, Lingling Chen, Yang Zhang, Peng Yang, Liqun Zhang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

With the development of biomedicine and microcontroller technology, above knee prosthesis has been improved rapidly. However most current researches just focus on the single knee joint, and ignore the coupling between knee joint and ankle joint, which do not meet the needs of patients who need to perform multi-joint coordinated movement. This paper presents a new control method using bipedal robotics technology, bio-inspiration based on CPG net. According to this method, primary controller embedded in knee\ankle joint can receive the command from subject, recognize the movement mode, and send the start command to lower which realize the movement of above knee prosthesis. The previous findings show that sEMG can be employed to identify the movement mode based on SVM. And nonlinear oscillator, used for controlling multi-legged robot, can be employed to realize the lower limb movement. Further this paper explores the biodynamic effect of multi-joint, and tries to find the coupling rule and identify the MIMO neuromuscular model.

Original languageEnglish (US)
Title of host publication2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Pages283-287
Number of pages5
DOIs
StatePublished - 2010
Event2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin, China
Duration: Dec 14 2010Dec 18 2010

Publication series

Name2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010

Other

Other2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
CountryChina
CityTianjin
Period12/14/1012/18/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biotechnology
  • Human-Computer Interaction

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