Abstract
This paper presents an overview of the design and control of a fully self-contained prosthesis, which is intended to improve the mobility of transfemoral amputees. A finite-state based impedance control approach, previously developed by the authors, is used for the control of the prosthesis during walking and standing. The prosthesis was tested on an unilateral amputee subject for over-ground walking. Prosthesis sensor data (joint angles and torques) acquired during level ground walking experiments at a self-selected cadence demonstrates the ability of the device to provide a functional gait similar to normal gait biomechanics. Battery measurements during level ground walking experiments show that the self-contained device provides over 4,500 strides (9.0 km of walking at a speed of 5.1 km/h) between battery charges.
| Original language | English |
|---|---|
| Title of host publication | 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 |
| Pages | 638-644 |
| Number of pages | 7 |
| DOIs | |
| Publication status | Published - 2009 |
| Externally published | Yes |
| Event | 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 - Kyoto, Japan Duration: Jun 23 2009 → Jun 26 2009 |
Other
| Other | 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 |
|---|---|
| Country | Japan |
| City | Kyoto |
| Period | 6/23/09 → 6/26/09 |
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ASJC Scopus subject areas
- Computer Vision and Pattern Recognition
- Electrical and Electronic Engineering
Cite this
Self-contained powered knee and ankle prosthesis : Initial evaluation on a transfemoral amputee. / Sup, Frank; Varol, Huseyin Atakan; Mitchell, Jason; Withrow, Thomas J.; Goldfarb, Michael.
2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009. 2009. p. 638-644 5209625.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Self-contained powered knee and ankle prosthesis
T2 - Initial evaluation on a transfemoral amputee
AU - Sup, Frank
AU - Varol, Huseyin Atakan
AU - Mitchell, Jason
AU - Withrow, Thomas J.
AU - Goldfarb, Michael
PY - 2009
Y1 - 2009
N2 - This paper presents an overview of the design and control of a fully self-contained prosthesis, which is intended to improve the mobility of transfemoral amputees. A finite-state based impedance control approach, previously developed by the authors, is used for the control of the prosthesis during walking and standing. The prosthesis was tested on an unilateral amputee subject for over-ground walking. Prosthesis sensor data (joint angles and torques) acquired during level ground walking experiments at a self-selected cadence demonstrates the ability of the device to provide a functional gait similar to normal gait biomechanics. Battery measurements during level ground walking experiments show that the self-contained device provides over 4,500 strides (9.0 km of walking at a speed of 5.1 km/h) between battery charges.
AB - This paper presents an overview of the design and control of a fully self-contained prosthesis, which is intended to improve the mobility of transfemoral amputees. A finite-state based impedance control approach, previously developed by the authors, is used for the control of the prosthesis during walking and standing. The prosthesis was tested on an unilateral amputee subject for over-ground walking. Prosthesis sensor data (joint angles and torques) acquired during level ground walking experiments at a self-selected cadence demonstrates the ability of the device to provide a functional gait similar to normal gait biomechanics. Battery measurements during level ground walking experiments show that the self-contained device provides over 4,500 strides (9.0 km of walking at a speed of 5.1 km/h) between battery charges.
UR - http://www.scopus.com/inward/record.url?scp=70449331675&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70449331675&partnerID=8YFLogxK
U2 - 10.1109/ICORR.2009.5209625
DO - 10.1109/ICORR.2009.5209625
M3 - Conference contribution
AN - SCOPUS:70449331675
SN - 9781424437894
SP - 638
EP - 644
BT - 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
ER -