A Phase Variable Approach to Volitional Control of Powered Knee-Ankle Prostheses
A Phase Variable Approach to Volitional Control of Powered Knee-Ankle Prostheses
复制标题
动力膝踝假肢意志控制的相变方法
DOI：
10.1109/iros.2018.8594023
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Gregg, Robert D.
中科院分区：
文献类型：
--
作者：
Rezazadeh, Siavash;Quintero, David;Divekar, Nikhil;Gregg, Robert D.
虽然有最近的进展，在控制多关节假肢的周期性任务，如步行，这些系统的非周期性演习的意志控制仍然是一个悬而未决的问题。在本文中，我们开发了一种新的控制器，能够周期性步行和共同的意志腿运动的基础上分段完整相变量通过有限状态机。通过测量大腿角度构造相位变量，并且通过感测足部接触连同标称参考步态轨迹的属性来制定有限状态机中的转换。该控制器实现了动力膝踝关节假体和测试与股骨截肢者的主题，谁成功地进行了广泛的周期性和非周期性的任务，包括低速和高速行走，快速启动和停止，向后行走，走过障碍，踢足球。所提出的方法有望提供更好的理解意志运动，并导致更可靠的控制多关节假体更广泛的任务。
Although there has been recent progress in control of multi-joint prosthetic legs for periodic tasks such as walking, volitional control of these systems for non-periodic maneuvers is still an open problem. In this paper, we develop a new controller that is capable of both periodic walking and common volitional leg motions based on a piecewise holonomic phase variable through a finite state machine. The phase variable is constructed by measuring the thigh angle, and the transitions in the finite state machine are formulated through sensing foot contact together with attributes of a nominal reference gait trajectory. The controller was implemented on a powered knee-ankle prosthesis and tested with a transfemoral amputee subject, who successfully performed a wide range of periodic and non-periodic tasks, including low- and high-speed walking, quick start and stop, backward walking, walking over obstacles, and kicking a soccer ball. The proposed approach is expected to provide better understanding of volitional motions and lead to more reliable control of multi-joint prostheses for a wider range of tasks.
影响因子：
5.7
作者：
Lenzi, Tommaso;Hargrove, Levi J.;Sensinger, Jonathon W.
通讯作者：
Sensinger, Jonathon W.
影响因子：
1.9
作者：
B. Lawson;M. Goldfarb
通讯作者：
M. Goldfarb