Abstract
This paper describes an active passive torque decomposition procedure for use in controlling a fully powered transfemoral prosthesis. The active and passive parts of the joint torques are extracted by solving a constrained least squares optimization problem. Rather than utilize "echo control" as proposed by others, the proposed approach generates the torque reference of joints by combining the active part, which is a function of the force and moment vector of the interaction between user and prosthesis and the passive part, which has a nonlinear spring-dashpot behavior. The ability of the approach to reconstruct the required joint torques is demonstrated in simulation on measured biomechanics data.
| Original language | English |
|---|---|
| Title of host publication | 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07 |
| Pages | 783-789 |
| Number of pages | 7 |
| DOIs | |
| Publication status | Published - 2007 |
| Externally published | Yes |
| Event | 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07 - Noordwijk, Netherlands Duration: Jun 12 2007 → Jun 15 2007 |
Other
| Other | 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07 |
|---|---|
| Country | Netherlands |
| City | Noordwijk |
| Period | 6/12/07 → 6/15/07 |
Fingerprint
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Decomposition-based control for a powered knee and ankle transfemoral prosthesis. / Varol, Huseyin Atakan; Goldfarb, Michael.
2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07. 2007. p. 783-789 4428514.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Decomposition-based control for a powered knee and ankle transfemoral prosthesis
AU - Varol, Huseyin Atakan
AU - Goldfarb, Michael
PY - 2007
Y1 - 2007
N2 - This paper describes an active passive torque decomposition procedure for use in controlling a fully powered transfemoral prosthesis. The active and passive parts of the joint torques are extracted by solving a constrained least squares optimization problem. Rather than utilize "echo control" as proposed by others, the proposed approach generates the torque reference of joints by combining the active part, which is a function of the force and moment vector of the interaction between user and prosthesis and the passive part, which has a nonlinear spring-dashpot behavior. The ability of the approach to reconstruct the required joint torques is demonstrated in simulation on measured biomechanics data.
AB - This paper describes an active passive torque decomposition procedure for use in controlling a fully powered transfemoral prosthesis. The active and passive parts of the joint torques are extracted by solving a constrained least squares optimization problem. Rather than utilize "echo control" as proposed by others, the proposed approach generates the torque reference of joints by combining the active part, which is a function of the force and moment vector of the interaction between user and prosthesis and the passive part, which has a nonlinear spring-dashpot behavior. The ability of the approach to reconstruct the required joint torques is demonstrated in simulation on measured biomechanics data.
UR - http://www.scopus.com/inward/record.url?scp=48349134733&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=48349134733&partnerID=8YFLogxK
U2 - 10.1109/ICORR.2007.4428514
DO - 10.1109/ICORR.2007.4428514
M3 - Conference contribution
SN - 1424413206
SN - 9781424413201
SP - 783
EP - 789
BT - 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07
ER -