Preliminary Evaluations of a Self-Contained Anthropomorphic Transfemoral Prosthesis

Sup, Frank C.; Varol, Hüseyin Atakan; Mitchell, Jason E.; Withrow, Thomas J.; Goldfarb, Michael

doi:10.1109/tmech.2009.2032688

Cited by 261 publications

(181 citation statements)

References 26 publications

(18 reference statements)

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“…In this paper, we use the impedance control instead of the position control to create the motion that responds to the load on the knee. The knee torque is described in [3] by a spring and damper system, as follows:…”

Section: Control Of An Active Powered Prosthesismentioning

confidence: 99%

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Design and Control of an Active Powered Knee Prosthesis System using Position-based Impedance Control

Jo¹,

Lee²

2017

World Congress on Mechanical, Chemical, and Material Engineering

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-In this paper, we deal with the implementation of an active powered knee prosthesis using the position-based impedance control. We propose a new mechanical structure for the knee prosthesis such that convenience of the maintenance is much improved and the noise seen in the load cell measurement, caused by a motor, is greatly removed. We develop the embedded system based on a 32-bit digital signal controller and make the standalone operation without tethering possible by attaching the developed embedded system on the prosthesis. We divide the walking cycle into 5 stages and control the prosthesis such that it has different mechanical impedance depending on the stages. For efficient control of the impedance, we firstly derive the relationship between the knee angle and the torque applied on the knee and then propose the position-based impedance controller for the knee prosthesis. We evaluate the walking performance of the knee prosthesis through experiments including level walking and inclined walking. We also analyze the features of the proposed knee prosthesis by comparing the walking data of the proposed prosthesis with normal walking data.

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Section: Control Of An Active Powered Prosthesismentioning

confidence: 99%

“…Passive prosthesis consists of a structure that stores energy and reduce the physical burden of the wearer [2]. However, since it uses the power of the wearer to walk, amputees consume about 60% more energy than normal person [3]. A passive prosthesis with a power source adjusts the impedance to assist walking [4], [5], [6], [7].…”

Section: Introductionmentioning

confidence: 99%

Design and Control of an Active Powered Knee Prosthesis System using Position-based Impedance Control

Jo¹,

Lee²

2017

World Congress on Mechanical, Chemical, and Material Engineering

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“…Following the previous research goals at Vanderbilt University (United States) in pneumatically actuated transfemoral prostheses, Sup et al designed a self-contained electrically driven device [80] capable of accommodating to slope walking [52]. The device, shown in Figure 16(a), was originally designed for an 85 kg user, walking at a cadence of 80 steps/min and stair climbing.…”

Section: (B) Series Elastic Actuation With Parallel Spring (Seaps)mentioning

confidence: 99%

Advances in Propulsive Bionic Feet and Their Actuation Principles

Cherelle

Mathijssen

Wang

et al. 2014

Advances in Mechanical Engineering

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In the past decades, researchers have deeply studied pathological and nonpathological gait to understand the human ankle function during walking. These efforts resulted in the development of new lower limb prosthetic devices aiming at raising the 3C-level (control, comfort, and cosmetics) of amputees. Thanks to the technological advances in engineering and mechatronics, challenges in the field of prosthetics have become an important source of interest for roboticists. Currently, most of the bionic feet are still on a research level but show promising results and a preview of tomorrow's commercial prosthetic devices. In this paper, the authors present the current state-of-the-art and the latest advances in propulsive bionic feet with its actuation principles. The context of this review study is outlined followed by a brief description of the basics in human biomechanics and criteria for new prosthetic designs. A new categorization based on the actuation principle of propulsive ankle-foot prostheses is proposed. Based on simulations, the general principles and benefits of each actuation method are explained. The corresponding latest advances in propulsive bionic feet are presented together with their main characteristics and scientific outcomes. The authors also propose to the reader a comparison analysis of the presented devices with a discussion of the general tendencies in new prosthetic feet.

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“…7,11,17 However, only modest simplification can be achieved since at least 3 states are typically defined for levelground walking, and parameter values differ across tasks (i.e., ramp ascent/descent, stair ascent/descent). 16,18,38 Another solution to tune fewer parameters is to associate parameter values with one another 36 or with other intrinsic biomechanical measures (e.g., prosthesis joint angles, prosthesis load, walking speed, foot center of pressure, effective leg shape). 8, 10,36 In one case, this strategy not only reduced the burden of manual tuning, but also permitted alternate nonlinear control systems that had fewer control parameters altogether.…”

Section: Introductionmentioning

confidence: 99%

A Cyber Expert System for Auto-Tuning Powered Prosthesis Impedance Control Parameters

et al. 2015

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Typically impedance control parameters (e.g., stiffness and damping) in powered lower limb prostheses are fine-tuned by human experts (HMEs), which is time and resource intensive. Automated tuning procedures would make powered prostheses more practical for clinical use. In this study, we developed a novel cyber expert system (CES) that encoded HME tuning decisions as computer rules to auto-tune control parameters for a powered knee (passive ankle) prosthesis. The tuning performance of CES was preliminarily quantified on two able-bodied subjects and two transfemoral amputees. After CES and HME tuning, we observed normative prosthetic knee kinematics and improved or slightly improved gait symmetry and step width within each subject. Compared to HME, the CES tuning procedure required less time and no human intervention. Hence, using CES for auto-tuning prosthesis control was a sound concept, promising to enhance the practical value of powered prosthetic legs. However, the tuning goals of CES might not fully capture those of the HME. This was because we observed that HME tuning reduced trunk sway, while CES sometimes led to slightly increased trunk motion. Additional research is still needed to identify more appropriate tuning objectives for powered prosthetic legs to improve amputees' walking function.

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Preliminary Evaluations of a Self-Contained Anthropomorphic Transfemoral Prosthesis

Cited by 261 publications

References 26 publications

Design and Control of an Active Powered Knee Prosthesis System using Position-based Impedance Control

Design and Control of an Active Powered Knee Prosthesis System using Position-based Impedance Control

Advances in Propulsive Bionic Feet and Their Actuation Principles

A Cyber Expert System for Auto-Tuning Powered Prosthesis Impedance Control Parameters

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