Preliminary evaluation of a new control approach to achieve speed adaptation in robotic transfemoral prostheses

T. Lenzi*, L. J. Hargrove, J. W. Sensinger

*Corresponding author for this work

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

14 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2049-2054
Number of pages6
ISBN (Electronic)9781479969340
DOIs
StatePublished - Oct 31 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Publication series

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

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

ASJC Scopus subject areas

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

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