Toward Phase-Variable Control of Sit-to-Stand Motion with a Powered Knee-Ankle Prosthesis.
Toward Phase-Variable Control of Sit-to-Stand Motion with a Powered Knee-Ankle Prosthesis.
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DOI：
10.1109/ccta48906.2021.9658844
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发表时间：
2021-08
期刊：
影响因子：
--
通讯作者：
Gregg RD
中科院分区：
文献类型：
--
作者：
Raz D;Bolívar-Nieto E;Ozay N;Gregg RD
提出了一种新的膝上截肢者坐立运动模型和相变量控制器。该模型捕捉了健全侧和残肢对假肢所做的工作的效果，同时仅对具有连接大腿和躯干的健康髋关节的假肢膝盖和脚踝进行建模。该控制器由生物力学相变量而不是时间参数化，并使用该模型在仿真中进行分析。我们表明，该控制器表现良好，最小的调整，在一系列现实的初始条件和生物参数，如身高和体重。该控制器生成的运动轨迹是在非截肢者的实验观察到的轨迹相媲美。此外，由控制器命令的扭矩是一致的扭矩曲线和峰值的规范人类坐到站的运动。在模拟和非截肢者实验中测量的上升时间也是相似的。最后，我们比较了所提出的控制器与基线比例微分控制器，证明了基于相位的设计比基于设定点的设计的优势。
This paper presents a new model and phase-variable controller for sit-to-stand motion in above-knee amputees. The model captures the effect of work done by the sound side and residual limb on the prosthesis, while modeling only the prosthetic knee and ankle with a healthy hip joint that connects the thigh to the torso. The controller is parametrized by a biomechanical phase variable rather than time and is analyzed in simulation using the model. We show that this controller performs well with minimal tuning, under a range of realistic initial conditions and biological parameters such as height and body mass. The controller generates kinematic trajectories that are comparable to experimentally observed trajectories in non-amputees. Furthermore, the torques commanded by the controller are consistent with torque profiles and peak values of normative human sit-to-stand motion. Rise times measured in simulation and in non-amputee experiments are also similar. Finally, we compare the presented controller with a baseline proportional-derivative controller demonstrating the advantages of the phase-based design over a set-point based design.
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影响因子：
3.2
作者：
Dall, Philippa M.;Kerr, Andrew
通讯作者：
Kerr, Andrew
DOI：
10.1109/tnsre.2020.3040260
发表时间：
2020-12
期刊：
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
影响因子：
--
作者：
Elery T;Rezazadeh S;Reznick E;Gray L;Gregg RD
通讯作者：
Gregg RD
影响因子：
2.4
作者：
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通讯作者：
Bajd, T
影响因子：
1.8
作者：
Bobbert, Maarten F.;Kistemaker, Dinant A.;Ackermann, Marko
通讯作者：
Ackermann, Marko
DOI：
10.1109/86.650289
发表时间：
1997-12-01
期刊：
IEEE transactions on rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
影响因子：
--
作者：
Riley, P O;Krebs, D E;Popat, R A
通讯作者：
Popat, R A