Ground adaptive standing controller for a powered transfemoral prosthesis

Brian E. Lawson, Huseyin Atakan Varol, Michael Goldfarb

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

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 languageEnglish
Title of host publicationIEEE International Conference on Rehabilitation Robotics
DOIs
Publication statusPublished - 2011
Externally publishedYes
EventRehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Zurich, Switzerland
Duration: Jun 27 2011Jul 1 2011

Other

OtherRehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011
CountrySwitzerland
CityZurich
Period6/27/117/1/11

Fingerprint

Electric Impedance
Prostheses and Implants
Knee Prosthesis
Amputees
Controllers
Ankle
Joints

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Rehabilitation
  • Medicine(all)

Cite this

Lawson, B. E., Varol, H. A., & Goldfarb, M. (2011). Ground adaptive standing controller for a powered transfemoral prosthesis. In IEEE International Conference on Rehabilitation Robotics [5975475] https://doi.org/10.1109/ICORR.2011.5975475

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 proceedingConference contribution

Lawson, BE, Varol, HA & Goldfarb, M 2011, Ground adaptive standing controller for a powered transfemoral prosthesis. in IEEE International Conference on Rehabilitation Robotics., 5975475, Rehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011, Zurich, Switzerland, 6/27/11. https://doi.org/10.1109/ICORR.2011.5975475
Lawson BE, Varol HA, Goldfarb M. Ground adaptive standing controller for a powered transfemoral prosthesis. In IEEE International Conference on Rehabilitation Robotics. 2011. 5975475 https://doi.org/10.1109/ICORR.2011.5975475
Lawson, Brian E. ; Varol, Huseyin Atakan ; Goldfarb, Michael. / Ground adaptive standing controller for a powered transfemoral prosthesis. IEEE International Conference on Rehabilitation Robotics. 2011.
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