TY - JOUR
T1 - Standing stability enhancement with an intelligent powered transfemoral prosthesis
AU - Lawson, Brian Edward
AU - Varol, Huseyin Atakan
AU - Goldfarb, Michael
N1 - Funding Information:
Manuscript received February 11, 2011; revised May 10, 2011; accepted June 13, 2011. Date of publication June 20, 2011; date of current version August 19, 2011. This work was supported by the National Institutes of Health under Grant R01EB005684-01. Asterisk indicates corresponding author. *B. E. Lawson is with the Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235 USA (e-mail: brian.e.lawson@vanderbilt.edu).
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
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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 -