Decomposition-based control for a powered knee and ankle transfemoral prosthesis

Huseyin Atakan Varol; Michael Goldfarb

doi:10.1109/ICORR.2007.4428514

Decomposition-based control for a powered knee and ankle transfemoral prosthesis

Huseyin Atakan Varol, Michael Goldfarb

Department of Robotics and Mechatronics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

19 Citations (Scopus)

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	https://doi.org/10.1109/ICORR.2007.4428514
Publication status	Published - Dec 1 2007
Event	2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07 - Noordwijk, Netherlands Duration: Jun 12 2007 → Jun 15 2007

Publication series

Name	2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07

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

Varol, H. A., & Goldfarb, M. (2007). Decomposition-based control for a powered knee and ankle transfemoral prosthesis. In 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07 (pp. 783-789). [4428514] (2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07). https://doi.org/10.1109/ICORR.2007.4428514

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 (2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Varol, HA & Goldfarb, M 2007, Decomposition-based control for a powered knee and ankle transfemoral prosthesis. in 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07., 4428514, 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07, pp. 783-789, 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07, Noordwijk, Netherlands, 6/12/07. https://doi.org/10.1109/ICORR.2007.4428514

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Access to Document

10.1109/ICORR.2007.4428514