Powered sit-to-stand and assistive stand-to-sit framework for a powered transfemoral prosthesis

Huseyin Atakan Varol, Frank Sup, Michael Goldfarb

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

25 Citations (Scopus)

Abstract

This work extends the three level powered knee and ankle prosthesis control framework previously developed by the authors by adding sitting mode. A middle level finite state based impedance controller is designed to accommodate sitting, sit-to-stand and stand-to-sit transitions. Moreover, a high level Gaussian Mixture Model based intent recognizer is developed to distinguish between standing and sitting modes and switch the middle level controllers accordingly. Experimental results with unilateral transfemoral amputee subject show that sitting down and standing up intent can be inferred from the prosthesis sensor signals by the intent recognizer. Furthermore, it is demonstrated that the prosthesis generates net active power of 50 W during standing up and dissipates up to 50 W of power during stand-to-sit transition at the knee joint.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
Pages645-651
Number of pages7
DOIs
Publication statusPublished - 2009
Event2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 - Kyoto, Japan
Duration: Jun 23 2009Jun 26 2009

Publication series

Name2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009

Other

Other2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
CountryJapan
CityKyoto
Period6/23/096/26/09

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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