Design, implementation and test results of a robust control method for a powered ankle foot orthosis (AFO)

Boehler, Alex; Hollander, Kevin W.; Sugar, Thomas G.; Shin, Donghoon

doi:10.1109/robot.2008.4543504

Cited by 51 publications

(40 citation statements)

References 7 publications

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“…In [9] the authors describe an algorithm, which combines velocity and stiffness control. The stance phase of gait is split into five different zones and each zone is governed by velocity or stiffness control as shown in Fig.…”

Section: B Robust Controlmentioning

confidence: 99%

A novel control algorithm for wearable robotics using phase plane invariants

Holgate

Sugar

Bohler

2009

2009 IEEE International Conference on Robotics and Automation

109

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With microprocessing power greatly increasing, hardware is no longer a hurdle in the development of controllers for wearable robotic systems, specifically lower limb robots. The challenge remains in developing smart algorithms that are able to detect which task a person is about to perform and then determine the correct desired movements for the robotic system. This paper reflects on four existing control algorithms for the task of level ground walking, and then presents theory and test results of a novel control algorithm based on phase plane invariants. The goal of this paper is to produce the correct motor reference command in a continuous fashion rather than based on determining distinct states for a given task.

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Section: B Robust Controlmentioning

confidence: 99%

A novel control algorithm for wearable robotics using phase plane invariants

Holgate

Sugar

Bohler

2009

2009 IEEE International Conference on Robotics and Automation

109

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“…One implementation (Bohler et al, 2008) divides the stance phase into five zones based on the ankle angular position, and controls either ankle torsional stiffness or angular velocity within each zone. This method seeks to control angular velocity when the ankle is plantarflexing, and stiffness when the ankle is dorsiflexing during the stance phase.…”

Section: Tendon-muscle Control Schemesmentioning

confidence: 99%

SPARKy-Spring Ankle with Regenerative Kinematics

Sugar¹

2011

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Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing this collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden to Department of Defense, Washington Headquarters Services, Directorate for Information Operations and Reports (0704-0188), 1215 Jefferson Davis Highway, Suite 1204, Arlington, VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to any penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number. PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. REPORT DATESeptember 2011 REPORT TYPE 3. DATES COVERED (From -To)4. TITLE AND SUBTITLE 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT NUMBER 5e. TASK NUMBER E-Mail:5f. WORK UNIT NUMBER The goal is to design the Spring Ankle with Regenerative Kinetics (SPARKy) which seeks to develop a new generation of powered prosthetic devices based on the Robotic Tendon actuator. This actuator is a lightweight motor and transmission in series with a helical spring that significantly minimizes the peak power requirement of an electric motor and total system energy. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) 8. PERFORMING ORGANIZATION REPORT NUMBER SPONSORING / MONITORING AGENCY NAME(S) AND ADDRESS(ES) 10. SPONSOR/MONITOR'S ACRONYM(S) U.S. Army Medical Research and Materiel Command Fort Detrick, Maryland 21702-5012 SPONSOR/MONITOR'S REPORT NUMBER(S) DISTRIBUTION / AVAILABILITY STATEMENTThe Robotic Tendon has kinetic advantages and stores and releases energy to provide SPARKy users with 100% of required push-off power and ankle range of motion comparable to able-bodied ankle motion while maintaining a form factor that is portable to the wearer. In the second year, we developed and tested a transtibial prosthesis that supports continuous unstructured walking for up to 2.8 hours. A pilot study with 2 subjects tested the device. All components are worn and are lightweight and portable. In the third year, jogging on a treadmill was demonstrated. The goal is to design the Spring Ankle with Regenerative Kinetics (SPARKy) which seeks to develop a new generation of powered prosthetic devices based on the Robotic Tendon actuator. This actuator is a lightweight motor and transmission in series with a helical spring that significantly minimizes the peak power requirement of an electric motor and total system energy. The Robotic Tendon has kinetic advantages and stores and releases energy to provide SPARKy users with 100% of required push-off power and ankle range of motion comparable to able-bodied ankle motion while maintaining a form factor that is portable to the wearer. Objective:The SPARKy Te...

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“…Control based on gait-pattern generators has been realized in [14,19]. Under the assumption that the human gait is cyclic, variable impedance control is also one of the most common approaches for controlling prosthesis [9,10,11,23].…”

Section: Introductionmentioning

confidence: 99%

Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis

Zhao

Reher

Horn

et al. 2015

Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems

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Lower-limb prosthesis provide a prime example of cyber-physical systems (CPSs) that interact with humans in a safety critical fashion, and therefore require the synergistic development of sensing, algorithms and controllers. With a view towards better understanding CPSs of this form, this paper presents a methodology for successfully translating nonlinear real-time optimization based controllers from bipedal robots to a novel custom built self-contained powered transfemoral prosthesis: AMPRO. To achieve this goal, we begin by collecting reference human locomotion data via Inertial measurement Units (IMUs). This data forms the basis for an optimization problem that generates virtual constraints, i.e., parametrized trajectories, for the prosthesis that provably yields walking in simulation. Leveraging methods that have proven successful in generating stable robotic locomotion, control Lyapunov function (CLF) based Quadratic Programs (QPs) are utilized to optimally track the resulting desired trajectories. The parameterization of the trajectories is determined through a combination of on-board sensing on the prosthesis together with IMU data, thereby coupling the actions of the user with the controller. Finally, impedance control is integrated into the QP yielding an optimization based control law that displays remarkable tracking and robustness, outperforming traditional PD and impedance control strategies. This is demonstrated experimentally on AMPRO through the implementation of the holistic sensing, algorithm and control framework, with the end result being stable and human-like walking.

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Design, implementation and test results of a robust control method for a powered ankle foot orthosis (AFO)

Cited by 51 publications

References 7 publications

A novel control algorithm for wearable robotics using phase plane invariants

A novel control algorithm for wearable robotics using phase plane invariants

SPARKy-Spring Ankle with Regenerative Kinematics

Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis

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