Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning.
Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning.
复制标题
动力膝踝假体的数据驱动可变阻抗控制，可通过最少的调整实现坐、站和行走。
DOI：
10.1109/iros47612.2022.9982037
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发表时间：
2022
期刊：
影响因子：
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通讯作者：
Gregg,RobertD
中科院分区：
文献类型：
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作者：
Welker,CaraG;Best,TKevin;Gregg,RobertD
虽然健康成年人平均每天从坐到站超过60次，但大多数关于动力假肢控制的研究只集中在步行上。在本文中，我们提出了一个数据驱动的控制器，使坐，站，走，以最小的调整。我们的控制器包括两个高层次的坐/站和步行模式，我们开发了启发式的生物力学规则来控制过渡。我们使用一个相位变量的基础上，用户的大腿角度参数化的步行和坐/站运动，并使用可变阻抗控制在地面接触和位置控制在摆动。我们扩展了以前的工作，数据驱动的连续阻抗参数函数的优化设计坐/站控制模式，使用健全的数据。膝上截肢的参与者使用的动力膝踝关节假体的实验表明，在临床结果的承诺，以及我们的最小调整方法和用户偏好的住宿之间的权衡。具体来说，我们的控制器使参与者完成坐/站任务的速度加快了20%，与他的日常被动假肢相比，平均不对称性减少了一半。控制器还促进了包括坐、站、走和转身的定时起身和行走测试，与日常假肢相比，速度仅轻微（10%）下降。我们的坐/站/走控制器可实现多种日常活动，只需最少的调整和模式切换。
Although the average healthy adult transitions from sit to stand over 60 times per day, most research on powered prosthesis control has only focused on walking. In this paper, we present a data-driven controller that enables sitting, standing, and walking with minimal tuning. Our controller comprises two high level modes of sit/stand and walking, and we develop heuristic biomechanical rules to control transitions. We use a phase variable based on the user's thigh angle to parameterize both walking and sit/stand motions, and use variable impedance control during ground contact and position control during swing. We extend previous work on data-driven optimization of continuous impedance parameter functions to design the sit/stand control mode using able-bodied data. Experiments with a powered knee-ankle prosthesis used by a participant with above-knee amputation demonstrate promise in clinical outcomes, as well as trade-offs between our minimal-tuning approach and accommodation of user preferences. Specifically, our controller enabled the participant to complete the sit/stand task 20% faster and reduced average asymmetry by half compared to his everyday passive prosthesis. The controller also facilitated a timed up and go test involving sitting, standing, walking, and turning, with only a mild (10%) decrease in speed compared to the everyday prosthesis. Our sit/stand/walk controller enables multiple activities of daily life with minimal tuning and mode switching.