Speed adaptation in a powered transtibial prosthesis controlled with a neuromuscular model
نویسندگان
چکیده
منابع مشابه
Speed adaptation in a powered transtibial prosthesis controlled with a neuromuscular model.
Control schemes for powered ankle-foot prostheses would benefit greatly from a means to make them inherently adaptive to different walking speeds. Towards this goal, one may attempt to emulate the intact human ankle, as it is capable of seamless adaptation. Human locomotion is governed by the interplay among legged dynamics, morphology and neural control including spinal reflexes. It has been s...
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 کاملConcept of a Series-Parallel Elastic Actuator for a Powered Transtibial Prosthesis
The majority of the commercial transtibial prostheses are purely passive devices. They store energy in an elastic element during the beginning of a step and release it at the end. A 75 kg human, however, produces on average 26 J of energy during one stride at the ankle joint when walking at normal cadence and stores/releases 9 J of energy, contributing to energy efficient locomotion. According ...
متن کاملThe AMP-Foot 2.0 : A Powered Transtibial Prosthesis That Mimics Intact Ankle Behavior
Almost all of the transtibial prostheses that are available on the market are purely passive devices. These prostheses store (potential) energy in an elastic element during the controlled dorsiflexion phase of stance and release it right after in order to move the body forward. As a result of this, only the energy which has been stored can be used for push-off and thus for propulsion. There exi...
متن کاملWithin-socket myoelectric prediction of continuous ankle kinematics for control of a powered transtibial prosthesis.
OBJECTIVE Powered robotic prostheses create a need for natural-feeling user interfaces and robust control schemes. Here, we examined the ability of a nonlinear autoregressive model to continuously map the kinematics of a transtibial prosthesis and electromyographic (EMG) activity recorded within socket to the future estimates of the prosthetic ankle angle in three transtibial amputees. APPROA...
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ژورنال
عنوان ژورنال: Philosophical Transactions of the Royal Society B: Biological Sciences
سال: 2011
ISSN: 0962-8436,1471-2970
DOI: 10.1098/rstb.2010.0347