TY - GEN
T1 - Sensor-fault tolerant control of a powered lower limb prosthesis by mixing mode-specific adaptive Kalman filters
AU - Dutta, Anirban
AU - Koerding, Konrad
AU - Perreault, Eric
AU - Hargrove, Levi
PY - 2011
Y1 - 2011
N2 - Machine learning methods for interfacing humans with machines is an emerging area. Here we propose a novel algorithm for interfacing humans with powered lower limb prostheses for restoring control of naturalistic gait following amputation. Unlike most previous neural machine interfaces, our approach fuses control information from the user with sensor information from the prosthesis to approximate the closed loop behavior of the unimpaired sensorimotor system. We present a Bayesian framework to control an artificial knee by probabilistically mixing of process state estimates from different Kalman filters, each addressing separate regimes of locomotion such as level ground walking, walking up a ramp, and walking down a ramp. We show its utility as a mode classifier that is tolerant to temporary sensor faults which are frequently experienced in practical applications.
AB - Machine learning methods for interfacing humans with machines is an emerging area. Here we propose a novel algorithm for interfacing humans with powered lower limb prostheses for restoring control of naturalistic gait following amputation. Unlike most previous neural machine interfaces, our approach fuses control information from the user with sensor information from the prosthesis to approximate the closed loop behavior of the unimpaired sensorimotor system. We present a Bayesian framework to control an artificial knee by probabilistically mixing of process state estimates from different Kalman filters, each addressing separate regimes of locomotion such as level ground walking, walking up a ramp, and walking down a ramp. We show its utility as a mode classifier that is tolerant to temporary sensor faults which are frequently experienced in practical applications.
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U2 - 10.1109/IEMBS.2011.6090626
DO - 10.1109/IEMBS.2011.6090626
M3 - Conference contribution
C2 - 22255142
AN - SCOPUS:84055192572
SN - 9781424441211
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 3696
EP - 3699
BT - 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
T2 - 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
Y2 - 30 August 2011 through 3 September 2011
ER -