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

Huseyin Atakan Varol, Michael Goldfarb

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07
Pages783-789
Number of pages7
DOIs
Publication statusPublished - Dec 1 2007
Event2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07 - Noordwijk, Netherlands
Duration: Jun 12 2007Jun 15 2007

Publication series

Name2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07

Other

Other2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07
CountryNetherlands
CityNoordwijk
Period6/12/076/15/07

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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