Real-Time Reactive Trip Avoidance for Powered Transfemoral Prostheses
Real-Time Reactive Trip Avoidance for Powered Transfemoral Prostheses
复制标题
动力经股假肢的实时反应性绊倒避免
DOI：
10.15607/rss.2019.xv.034
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
H. Geyer
中科院分区：
文献类型：
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作者：
Nitish Thatte;Nandagopal Srinivasan;H. Geyer
本文提出了一种用于动力假肢的实时无功控制器，以解决其跳闸回避问题。该控制器通过扩展的卡尔曼滤波来估计摆动过程中腿部的姿势，使用稀疏高斯过程预测未来的臀部角度和臀部高度，并通过快速二次程序求解器来响应地规划更新的脚踝和膝盖轨迹，以避免绊倒。在初步的实验中，一个身体健全的人在每次挥杆时故意降低臀部以引起绊倒，与遵循标准最小颠簸轨迹的挥杆控制相比，拟议的控制将绊倒率降低了68%。此外，建议的控制也降低了足趾损伤的严重程度。据我们所知，该控制器是第一个将视觉反馈纳入实时规划和控制下肢假肢步态的控制器。研究结果证明了反应性和环境感知控制在改善截肢者步态稳健性方面的潜力，并鼓励未来开发能够实时对环境和用户状态做出反应的假肢控制。
This paper presents a real-time reactive controller for a powered prosthesis that addresses the problem of trip avoidance. The control estimates the pose of the leg during swing with an extended Kalman filter, predicts future hip angles and hip heights using sparse Gaussian Processes, and reactively plans updated ankle and knee trajectories with a fast quadratic program solver to avoid trips. In preliminary experiments with an able-bodied user who purposefully lowered the hip to elicit trips on each swing, the proposed control reduced the rate of tripping by 68% when compared to a swing control that follows standard minimumjerk trajectories. In addition, the proposed control also reduced the severity of toe-scu ng. To the best of our knowledge, this controller is the first to incorporate visual feedback in the realtime planning and control of a lower limb prosthesis during gait. The results demonstrate the potential of reactive and environmentaware controls to improve amputee gait robustness and encourage future development of leg prosthesis controls that can react in real-time to the environment and user state.