Towards Biomimetic Virtual Constraint Control of a Powered Prosthetic Leg
نویسندگان
چکیده
منابع مشابه
Virtual Constraint Control of a Powered Prosthetic Leg: Experiments with Transfemoral Amputees
Powered prosthetic legs could significantly improve mobility for lower-limb amputees, but the performance and clinical viability of these devices are currently limited by complex control systems that independently control different joints and time periods of the gait cycle. Recent efforts have been made to address these challenges with a unifying control model used by recent bipedal robots, in ...
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This article presents a virtual prototyping study of a semi-active lower limb prosthesis to improve the functionality of an amputee during prosthesis-environment interaction for level ground walking. Articulated ankle-foot prosthesis and a single-axis semi-active prosthetic knee with active and passive operating modes were considered. Data for level ground walking were collected using a photogr...
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To achieve significant improvement in the function of electric-powered, upper-limb prostheses, we believe it is necessary to develop better control interfaces with inherent sensory feedback. Small cineplasties, or other surgical procedures that also externalize the force and excursion of a muscle, could potentially provide this superior control. Connecting a muscle to a prosthetic component via...
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We propose a regressor-based nonlinear robust model reference adaptive impedance controller for an active prosthetic leg for a transfemoral amputee. We use an adaptive control term to estimate the uncertain parameters of the system, and a robust control term so the system trajectories converge to a sliding manifold and exhibit robustness to variations of ground reaction force (GRF). The sliding...
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We propose a nonlinear robust model reference adaptive impedance controller for an active prosthetic leg for transfemoral amputees. We use an adaptive control term to consider the uncertain parameters of the system, and a robust control term so the system trajectories converge to a sliding mode boundary layer and exhibit robustness to variations of ground reaction force (GRF). The boundary laye...
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ژورنال
عنوان ژورنال: IEEE Transactions on Control Systems Technology
سال: 2014
ISSN: 1063-6536,1558-0865
DOI: 10.1109/tcst.2012.2236840