TY - GEN
T1 - Decomposition-based control for a powered knee and ankle transfemoral prosthesis
AU - Varol, Huseyin Atakan
AU - Goldfarb, Michael
PY - 2007/12/1
Y1 - 2007/12/1
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.
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U2 - 10.1109/ICORR.2007.4428514
DO - 10.1109/ICORR.2007.4428514
M3 - Conference contribution
AN - SCOPUS:48349134733
SN - 1424413206
SN - 9781424413201
T3 - 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07
SP - 783
EP - 789
BT - 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07
T2 - 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07
Y2 - 12 June 2007 through 15 June 2007
ER -