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 | |
| Publication status | Published - Sep 2011 |
| Externally published | Yes |
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Keywords
- Ground adaptation
- inertial measurement
- lower-limb prosthesis
- powered prosthesis
- transfemoral prosthesis
ASJC Scopus subject areas
- Biomedical Engineering
Cite this
Standing stability enhancement with an intelligent powered transfemoral prosthesis. / Lawson, Brian Edward; Varol, Huseyin Atakan; Goldfarb, Michael.
In: IEEE Transactions on Biomedical Engineering, Vol. 58, No. 9, 5898396, 09.2011, p. 2617-2624.Research output: Contribution to journal › Article
}
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
Y1 - 2011/9
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
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 -