Abstract
The scope of this work is the design and verification of a new standing controller for a powered knee and ankle prosthesis. The controller is based upon a finite-state impedance control approach previously developed by the authors. The controller provides a comprehensive standing behavior that incorporates ground adaptation for unlevel terrain. An amputee subject tested the controller with a powered prosthesis for a variety of standing conditions. Results indicate that the powered prosthesis can estimate the ground slope within ±1 degree over a range of ±15 degrees, and that it can provide appropriate joint impedances for standing on slopes within this range.
| Original language | English |
|---|---|
| Title of host publication | IEEE International Conference on Rehabilitation Robotics |
| DOIs | |
| Publication status | Published - 2011 |
| Externally published | Yes |
| Event | Rehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Zurich, Switzerland Duration: Jun 27 2011 → Jul 1 2011 |
Other
| Other | Rehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 |
|---|---|
| Country | Switzerland |
| City | Zurich |
| Period | 6/27/11 → 7/1/11 |
Fingerprint
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
- Rehabilitation
- Medicine(all)
Cite this
Ground adaptive standing controller for a powered transfemoral prosthesis. / Lawson, Brian E.; Varol, Huseyin Atakan; Goldfarb, Michael.
IEEE International Conference on Rehabilitation Robotics. 2011. 5975475.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Ground adaptive standing controller for a powered transfemoral prosthesis
AU - Lawson, Brian E.
AU - Varol, Huseyin Atakan
AU - Goldfarb, Michael
PY - 2011
Y1 - 2011
N2 - The scope of this work is the design and verification of a new standing controller for a powered knee and ankle prosthesis. The controller is based upon a finite-state impedance control approach previously developed by the authors. The controller provides a comprehensive standing behavior that incorporates ground adaptation for unlevel terrain. An amputee subject tested the controller with a powered prosthesis for a variety of standing conditions. Results indicate that the powered prosthesis can estimate the ground slope within ±1 degree over a range of ±15 degrees, and that it can provide appropriate joint impedances for standing on slopes within this range.
AB - The scope of this work is the design and verification of a new standing controller for a powered knee and ankle prosthesis. The controller is based upon a finite-state impedance control approach previously developed by the authors. The controller provides a comprehensive standing behavior that incorporates ground adaptation for unlevel terrain. An amputee subject tested the controller with a powered prosthesis for a variety of standing conditions. Results indicate that the powered prosthesis can estimate the ground slope within ±1 degree over a range of ±15 degrees, and that it can provide appropriate joint impedances for standing on slopes within this range.
UR - http://www.scopus.com/inward/record.url?scp=80055041455&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80055041455&partnerID=8YFLogxK
U2 - 10.1109/ICORR.2011.5975475
DO - 10.1109/ICORR.2011.5975475
M3 - Conference contribution
SN - 9781424498628
BT - IEEE International Conference on Rehabilitation Robotics
ER -