Ground adaptive standing controller for a powered transfemoral prosthesis

Brian E. Lawson; Huseyin Atakan Varol; Michael Goldfarb

doi:10.1109/ICORR.2011.5975475

Ground adaptive standing controller for a powered transfemoral prosthesis

Brian E. Lawson, Huseyin Atakan Varol, Michael Goldfarb

Department of Robotics and Mechatronics

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

9 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 language	English
Title of host publication	2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011
DOIs	https://doi.org/10.1109/ICORR.2011.5975475
Publication status	Published - 2011
Event	Rehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Zurich, Switzerland Duration: Jun 27 2011 → Jul 1 2011

Publication series

Name	IEEE International Conference on Rehabilitation Robotics
ISSN (Print)	1945-7898
ISSN (Electronic)	1945-7901

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

ASJC Scopus subject areas

Control and Systems Engineering
Rehabilitation
Electrical and Electronic Engineering

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Ground adaptive standing controller for a powered transfemoral prosthesis. / Lawson, Brian E.; Varol, Huseyin Atakan; Goldfarb, Michael.

2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011. 2011. 5975475 (IEEE International Conference on Rehabilitation Robotics).

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

Lawson, BE, Varol, HA & Goldfarb, M 2011, Ground adaptive standing controller for a powered transfemoral prosthesis. in 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011., 5975475, IEEE International Conference on Rehabilitation Robotics, 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

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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.",

author = "Lawson, {Brian E.} and Varol, {Huseyin Atakan} and Michael Goldfarb",

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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.

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Ground adaptive standing controller for a powered transfemoral prosthesis

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