Walk the Walk: A Lightweight Active Transtibial Prosthesis

Wang, Qining; Yuan, Kebin; Zhu, Jinying; Wang, Long

doi:10.1109/mra.2015.2408791

Cited by 81 publications

(45 citation statements)

References 17 publications

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“…The initial step of the algorithm is the computation of a scale parameter l based on three constant parameters (a, b, and k). Then, four weight parameters are calculated as illustrated in equations (13) to (15). The weight parameters along with estimated state variables are used in sigma-points determination, and estimated state variables (x k;ð5Â1Þ ) for UKF are given in equation (16), whereq r andT l are the estimated rotor angular position and load, respectively.…”

Section: Extended Kalman Filtermentioning

confidence: 99%

Sensorless control system for assistive robotic ankle-foot

Kouzbary

Osman

Wahab

2018

International Journal of Advanced Robotic Systems

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This article presents a novel sensorless control system of assistive robotic ankle-foot prosthesis, two estimation algorithms were developed and an analogy between them has been made. The system actuator's motor is a permanent magnet synchronous motor, unlike other powered ankle-foot, where the brushless DC motor and DC motor were used. Utilizing the permanent magnet synchronous motor will reduce the torque ripples and increase system ability to be overloaded compared to systems which utilize the brushless DC motor. Moreover, the ability of the machine to operate in all speed range makes this machine more suitable for the application. Both estimation algorithms are built using C-code and assessed in MATLAB Simulink. The estimation algorithms are used to provide motor and powered ankle-foot's angular speed and position. Two-level control system is used to evaluate the estimation algorithms; the control system role is to mimic biological ankle-foot performance during normal ground level walking speed. Based on the result of this article the unscented Kalman filter (UKF) is applicable for the application, as a result of the observer ability to estimate the motor load and angular position. On the other hand, extended Kalman filter (EKF) accuracy is affected by the load applied to the motor. Furthermore, the angular position is evaluated by integration of the angular speed which means integration of angular speed estimation error.

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Section: Extended Kalman Filtermentioning

confidence: 99%

Sensorless control system for assistive robotic ankle-foot

Kouzbary

Osman

Wahab

2018

International Journal of Advanced Robotic Systems

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“…在控制屈曲阶段, 脚踝吸收脚跟着地时的冲击, 储存行走的动能, 能够推动身体的重心前移 [2] ; 在动力跖屈期间, 脚踝关节做正功, 推动身体向上和向前;在摆动阶段, 踝关节作为一个位置源来实现足部清除和重置脚踝到平衡位置 [2] .…”

Section: 该款智能动力假肢可以辅助残疾人行走调整和控制unclassified

On-line recognition of push-off for powered transtibial prosthesis towards speed adaptation

Feng

Mai

et al. 2018

Sci. Sin.-Tech.

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“…The first line of help for these diagnoses are prosthesis (Colombo et al, 2011;Wang, Yuan, Zhu and Wang, 2015). At first, prosthesis was a solution to physical sequels (Sinitski et al, 2012) as patients covered the inexistence of a limb.…”

Section: General State Of the Art In The Field Of Orthopedic Technologymentioning

confidence: 99%

“…They use the mechanical system to simulate the effect of compensation forces necessary for the patient to maintain balance as s/he moves (Adebayo et al, 2011;Arotaritei, Turnea, Filep, Ilea and Rotariu, 2015;Casallas et al, 2011;Chen and Wang, 2015;Wang et al, 2015). The prototype is able to absorb the force generated when the prosthesis comes into contact with a surface, avoiding bounce effects, and it also compensates the angle between the basis of the prosthesis and the coupling axis, thus allowing the user to walk on steep surfaces ( Bravo and Rengifo, 2014; Morgenroth et al, 2011;Yuan et al, 2014;Zheng and Wang, 2016;Zhu, Wang, Li, Sun and She, 2015;Zhu, Wang and Wang, 2014).…”

Section: General State Of the Art In The Field Of Orthopedic Technologymentioning

confidence: 99%

Current overview of the state of disabled population, regarding the use of transtibial prosthesis

Martin¹,

Parra²

2017

Inf. Téc.

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En el Centro de Diseño y Metrología del SENA– CDM se ha detectado que la población en condición de discapacidad de miembros inferiores representa un desafío técnico y tecnológico en la recuperación de las condiciones normales de la marcha, puesto que se requieren intervenciones costosas o elementos que ayuden al desplazamiento de estas personas, como bastones, sillas de ruedas, muletas u otros implementos que sirvan de soporte y faciliten la rehabilitación del paciente. Es importante tener en cuenta que hay dudas acerca de si las prótesis existentes en el mercado suplen las necesidades económicas y de funcionalidad de cada paciente. Con esta investigación se pretende implementar una prótesis transtibial, a fin de mejorar algunas condiciones de la marcha del paciente. Colombia no cuenta con muchas entidades que diseñen y fabriquen los elementos que componen una prótesis. Por tal razón y porque en el SENA, específicamente en el Centro de Diseño y Metrología- CDM, hace aproximadamente cinco años se viene trabajando en el diseño y adaptación de ortesis y prótesis, pero con componentes importados, se quiere diseñar e implementar una articulación de tobillo para amputación transtibial, haciendo uso del recurso humano y tecnológico disponible en el país, y así, poder desarrollar un sistema con manufactura propia y 100 % SENA, que cumpla con las características de funcionalidad y ergonomía para los pacientes con dicha discapacidad. Este artículo científico original recopila la Información más relevante sobre un tema que afecta nuestra sociedad. Aquí se analizan diferentes fuentes bibliográficas descritas en la literatura existente. Con ellas creamos las etapas necesarias para la redacción del artículo definiendo los objetivos de la revisión, haciendo la búsqueda más relevante de la bibliografía y organizando la información de acuerdo con mapas mentales para redactar el artículo.

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Walk the Walk: A Lightweight Active Transtibial Prosthesis

Cited by 81 publications

References 17 publications

Sensorless control system for assistive robotic ankle-foot

Sensorless control system for assistive robotic ankle-foot

On-line recognition of push-off for powered transtibial prosthesis towards speed adaptation

Current overview of the state of disabled population, regarding the use of transtibial prosthesis

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