Biologically Inspired Design and Development of a Variable Stiffness Powered Ankle-Foot Prosthesis
نویسندگان
چکیده
منابع مشابه
Active control of a powered ankle-foot prosthesis
Amputees suffer a higher metabolic demand on their bodies. Passive prostheses seek to reduce this deficit through elastic distribution of the energy inherently dissipated in walking. Yet with no capacity to generate torque they lack truly biomimetic function. The active prosthesis is a solution to this and opens up a world of active control in the timing and magnitude of energy return. Being ab...
متن کاملControl of a powered ankle-foot prosthesis based on a neuromuscular model.
Control schemes for powered ankle-foot prostheses rely upon fixed torque-ankle state relationships obtained from measurements of intact humans walking at target speeds and across known terrains. Although effective at their intended gait speed and terrain, these controllers do not allow for adaptation to environmental disturbances such as speed transients and terrain variation. Here we present a...
متن کاملImpedance and Admittance Controller for a Multi-axis Powered Ankle-foot Prosthesis
This paper introduces a finite state machine to select between impedance and admittance control for a powered anklefoot prosthesis controllable in both Dorsiflexion-Plantarflexion (DP) and Inversion-Eversion (IE). Strain gauges are installed on the prosthesis’ foot to measure the strain caused by ground reaction forces, which are correlated to the external torques in DP and IE. The external tor...
متن کاملDynamic Modeling of a 2-dof Cable Driven Powered Ankle-foot Prosthesis
The first step to study and develop a two Degrees of Freedom (DOF) prosthesis is to derive a dynamic model for simulation and control design. In this paper, the ankle-foot prosthesis has controllable Dorsi-Plantarflexion (DP) and Inversion-Eversion (IE) DOF. We derive a compliant dynamic model for a recently developed ankle-foot prosthesis followed by identification of the actuators, transmissi...
متن کاملControl of a Powered Ankle-foot Prosthesis: from Perception to Impedance Modulation
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ژورنال
عنوان ژورنال: Journal of Mechanisms and Robotics
سال: 2019
ISSN: 1942-4302,1942-4310
DOI: 10.1115/1.4043603