TY - GEN
T1 - Preliminary evaluation of a new control approach to achieve speed adaptation in robotic transfemoral prostheses
AU - Lenzi, T.
AU - Hargrove, L. J.
AU - Sensinger, J. W.
N1 - Publisher Copyright:
© 2014 IEEE.
Copyright:
Copyright 2015 Elsevier B.V., All rights reserved.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - Robotic prostheses can improve walking ability in persons with transfemoral amputations by closely matching kinetics and kinematics of the intact leg during walking. However, achieving this goal requires the prosthesis to adapt to walking speed, a function that no powered transfemoral prosthesis has yet achieved. In this paper, we present, and perform initial testing on a new control framework that allows biologically accurate leg function at varying walking speeds, without the need for tuning. The proposed framework comprises two novel controllers that rely on quasi-stiffness modulation in stance phase and minimum jerk trajectory in swing phase. Preliminary testing was conducted in an able-bodied subject using a bypass adapter to walk on a robotic prosthesis at five different walking speeds (from 0.62 to 1.16 m/s). Experimental results demonstrated the ability of the proposed controller to approximate intact leg function at different walking speeds.
AB - Robotic prostheses can improve walking ability in persons with transfemoral amputations by closely matching kinetics and kinematics of the intact leg during walking. However, achieving this goal requires the prosthesis to adapt to walking speed, a function that no powered transfemoral prosthesis has yet achieved. In this paper, we present, and perform initial testing on a new control framework that allows biologically accurate leg function at varying walking speeds, without the need for tuning. The proposed framework comprises two novel controllers that rely on quasi-stiffness modulation in stance phase and minimum jerk trajectory in swing phase. Preliminary testing was conducted in an able-bodied subject using a bypass adapter to walk on a robotic prosthesis at five different walking speeds (from 0.62 to 1.16 m/s). Experimental results demonstrated the ability of the proposed controller to approximate intact leg function at different walking speeds.
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U2 - 10.1109/IROS.2014.6942836
DO - 10.1109/IROS.2014.6942836
M3 - Conference contribution
AN - SCOPUS:84911466836
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2049
EP - 2054
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -