Learning impedance controller parameters for lower-limb prostheses

Navid Aghasadeghi, Huihua Zhao, Levi J. Hargrove, Aaron D. Ames, Eric J. Perreault, Timothy Bretl

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

21 Scopus citations

Abstract

Impedance control is a common framework for control of lower-limb prosthetic devices. This approach requires choosing many impedance controller parameters. In this paper, we show how to learn these parameters for lower-limb prostheses by observation of unimpaired human walkers. We validate our approach in simulation of a transfemoral amputee, and we demonstrate the performance of the learned parameters in a preliminary experiment with a lower-limb prosthetic device.

Original languageEnglish (US)
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages4268-4274
Number of pages7
DOIs
StatePublished - Dec 1 2013
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: Nov 3 2013Nov 8 2013

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period11/3/1311/8/13

    Fingerprint

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Aghasadeghi, N., Zhao, H., Hargrove, L. J., Ames, A. D., Perreault, E. J., & Bretl, T. (2013). Learning impedance controller parameters for lower-limb prostheses. In IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4268-4274). [6696968] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6696968