Impedance & Admittance-Based Coordination Control Strategies for Robotic Lower Limb Prostheses
Impedance & Admittance-Based Coordination Control Strategies for Robotic Lower Limb Prostheses
复制标题
阻抗
DOI：
10.1115/9.2014-sep-6
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发表时间：
2014
影响因子：
1.9
通讯作者：
M. Goldfarb
中科院分区：
文献类型：
--
作者：
B. Lawson;M. Goldfarb
本文介绍并比较了两种不同的控制系统的动力膝关节和踝关节假体的经股截肢者，这是为了向用户提供一个安全的，直观的，以及协调的互动与假体。分段无源阻抗（PPI）控制器只利用类阻抗的行为，而第二个-一个混合阻抗导纳（HIA）控制器-利用类阻抗和类导纳的行为在一个混合的方法。HIA方法保持了PPI控制器的许多理想特性，同时也减少了可选控制参数的数量。HIA方法基本上结合了PPI控制结构在早期和中期的立场阶段的步态，和轨迹跟踪控制方法在终端的立场和摆动。这些控制器上实施的动力膝关节和踝关节假体，并在行走试验中测试的经股截肢者。来自这些试验的数据表明，尽管两者之间存在一些实质性的结构差异，但两种控制器在健康受试者数据方面的性能相当。
This article presents and compares two different control systems for a powered knee and ankle prosthesis for transfemoral amputees, which were constructed to provide the user a safe, intuitive, and well-coordinated interaction with the prosthesis. The piecewise-passive impedance (PPI) controller utilizes only impedance-like behaviors, while the second – a hybrid impedance-admittance (HIA) controller – utilizes both impedance-like and admittance-like behaviors in a hybrid approach. The HIA approach maintains many of the desirable characteristics of the PPI controller while also reducing the number of selectable control parameters. The HIA approach essentially incorporates the PPI control structure during the early and middle stance phases of gait, and a trajectory tracking control approach in terminal stance and swing. These controllers were implemented on a powered knee and ankle prosthesis and tested in walking trials by a transfemoral amputee. Data from these trials indicate that both controllers achieve comparable performance with respect to healthy subject data, despite some substantial structural differences between the two.