Standing Stability Enhancement With an Intelligent Powered Transfemoral Prosthesis
Standing Stability Enhancement With an Intelligent Powered Transfemoral Prosthesis
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DOI：
10.1109/tbme.2011.2160173
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发表时间：
2011-09-01
影响因子：
4.6
通讯作者：
Goldfarb, Michael
中科院分区：
文献类型：
--
作者：
Lawson, Brian Edward;Varol, Huseyin Atakan;Goldfarb, Michael
作者开发了一种地面自适应站立控制器，用于动力膝关节和踝关节假体，旨在提高经股截肢者的站立稳定性。基于有限状态的控制器包括地面搜索阶段、斜率估计阶段和关节阻抗调制阶段，它们一起使得假体能够快速地符合地面并向用户提供稳定辅助。为了评估地面自适应站立控制器的有效性，在动力膝关节和踝关节假体上实施了控制方法，并在截肢者受试者的各种站立条件下收集了实验数据。结果表明，控制器可以估计在+/- 15度的范围内的+/- 1度的地面坡度，并且它可以提供适当的关节阻抗在这个范围内的斜坡上站立。
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 degrees over a range of +/- 15 degrees, and that it can provide appropriate joint impedances for standing on slopes within this range.