Standing stability enhancement with an intelligent powered transfemoral prosthesis

Brian Edward Lawson; Huseyin Atakan Varol; Michael Goldfarb

doi:10.1109/TBME.2011.2160173

Standing stability enhancement with an intelligent powered transfemoral prosthesis

Brian Edward Lawson, Huseyin Atakan Varol, Michael Goldfarb

Department of Robotics and Mechatronics

Research output: Contribution to journal › Article › peer-review

44 Citations (Scopus)

Abstract

The authors have developed a ground-adaptive standing controller for a powered knee and ankle prosthesis which is intended to enhance the standing stability of transfemoral amputees. The finite-state-based controller includes a ground-searching phase, a slope estimation phase, and a joint impedance modulation phase, which together enable the prosthesis to quickly conform to the ground and provide stabilizing assistance to the user. In order to assess the efficacy of the ground-adaptive standing controller, the control approach was implemented on a powered knee and ankle prosthesis, and experimental data were collected on an amputee subject for a variety of standing conditions. Results indicate that the controller can estimate the ground slope within ±1° over a range of ±15°, and that it can provide appropriate joint impedances for standing on slopes within this range.

Original language	English
Article number	5898396
Pages (from-to)	2617-2624
Number of pages	8
Journal	IEEE Transactions on Biomedical Engineering
Volume	58
Issue number	9
DOIs	https://doi.org/10.1109/TBME.2011.2160173
Publication status	Published - Sep 1 2011

Keywords

Ground adaptation
inertial measurement
lower-limb prosthesis
powered prosthesis
transfemoral prosthesis

ASJC Scopus subject areas

Biomedical Engineering

Access to Document

10.1109/TBME.2011.2160173

Fingerprint Dive into the research topics of 'Standing stability enhancement with an intelligent powered transfemoral prosthesis'. Together they form a unique fingerprint.

Cite this

@article{146b9e273c5a4e3eb0a89a46f677cb2c,

title = "Standing stability enhancement with an intelligent powered transfemoral prosthesis",

abstract = "The authors have developed a ground-adaptive standing controller for a powered knee and ankle prosthesis which is intended to enhance the standing stability of transfemoral amputees. The finite-state-based controller includes a ground-searching phase, a slope estimation phase, and a joint impedance modulation phase, which together enable the prosthesis to quickly conform to the ground and provide stabilizing assistance to the user. In order to assess the efficacy of the ground-adaptive standing controller, the control approach was implemented on a powered knee and ankle prosthesis, and experimental data were collected on an amputee subject for a variety of standing conditions. Results indicate that the controller can estimate the ground slope within ±1° over a range of ±15°, and that it can provide appropriate joint impedances for standing on slopes within this range.",

keywords = "Ground adaptation, inertial measurement, lower-limb prosthesis, powered prosthesis, transfemoral prosthesis",

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

year = "2011",

month = sep,

day = "1",

doi = "10.1109/TBME.2011.2160173",

language = "English",

volume = "58",

pages = "2617--2624",

journal = "IEEE Transactions on Biomedical Engineering",

issn = "0018-9294",

publisher = "IEEE Computer Society",

number = "9",

}

TY - JOUR

T1 - Standing stability enhancement with an intelligent powered transfemoral prosthesis

AU - Lawson, Brian Edward

AU - Varol, Huseyin Atakan

AU - Goldfarb, Michael

PY - 2011/9/1

Y1 - 2011/9/1

N2 - The authors have developed a ground-adaptive standing controller for a powered knee and ankle prosthesis which is intended to enhance the standing stability of transfemoral amputees. The finite-state-based controller includes a ground-searching phase, a slope estimation phase, and a joint impedance modulation phase, which together enable the prosthesis to quickly conform to the ground and provide stabilizing assistance to the user. In order to assess the efficacy of the ground-adaptive standing controller, the control approach was implemented on a powered knee and ankle prosthesis, and experimental data were collected on an amputee subject for a variety of standing conditions. Results indicate that the controller can estimate the ground slope within ±1° over a range of ±15°, and that it can provide appropriate joint impedances for standing on slopes within this range.

AB - The authors have developed a ground-adaptive standing controller for a powered knee and ankle prosthesis which is intended to enhance the standing stability of transfemoral amputees. The finite-state-based controller includes a ground-searching phase, a slope estimation phase, and a joint impedance modulation phase, which together enable the prosthesis to quickly conform to the ground and provide stabilizing assistance to the user. In order to assess the efficacy of the ground-adaptive standing controller, the control approach was implemented on a powered knee and ankle prosthesis, and experimental data were collected on an amputee subject for a variety of standing conditions. Results indicate that the controller can estimate the ground slope within ±1° over a range of ±15°, and that it can provide appropriate joint impedances for standing on slopes within this range.

KW - Ground adaptation

KW - inertial measurement

KW - lower-limb prosthesis

KW - powered prosthesis

KW - transfemoral prosthesis

UR - http://www.scopus.com/inward/record.url?scp=80052044031&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=80052044031&partnerID=8YFLogxK

U2 - 10.1109/TBME.2011.2160173

DO - 10.1109/TBME.2011.2160173

M3 - Article

C2 - 21693411

AN - SCOPUS:80052044031

VL - 58

SP - 2617

EP - 2624

JO - IEEE Transactions on Biomedical Engineering

JF - IEEE Transactions on Biomedical Engineering

SN - 0018-9294

IS - 9

M1 - 5898396

ER -