Data-Driven Phase-Based Control of a Powered Knee-Ankle Prosthesis for Variable-Incline Stair Ascent and Descent
Data-Driven Phase-Based Control of a Powered Knee-Ankle Prosthesis for Variable-Incline Stair Ascent and Descent
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DOI：
10.1109/tmrb.2023.3328656
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发表时间：
2024-02-01
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影响因子：
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通讯作者：
Gregg，Robert D.
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文献类型：
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作者：
Cortino，Ross J.;Best，T. Kevin;Gregg，Robert D.
动力膝踝关节假体可以提供仿生净正功和关节角度的主动控制，在楼梯运动过程中提供优于传统被动装置的益处。然而，许多用于楼梯上升和下降的现代控制方法通常受限于用户/任务特定参数的耗时手动调整、去除用户意志的预定义轨迹、或不能应用于楼梯上升和下降两者的启发式方法。这项工作提出了一种基于相位的混合动力学和阻抗控制器（HKIC），允许半意志，仿生楼梯上升和下降，在各种步骤的高度。我们定义了一个统一的阶段变量，楼梯上升和下降，利用下肢几何形状，以适应不同的用户和步骤的高度。我们扩展了我们以前的数据驱动阻抗模型的可变倾斜行走，修改成本函数和约束条件，以创建一个连续变化的阻抗参数模型，楼梯上升和下降超过一个连续的台阶高度。对膝上截肢者的实验（2）验证了我们的HKIC控制器在四种步高配置下产生仿生上升和下降关节运动学，动力学和工作。我们还显示出改进的运动性能与我们的HKIC控制器相比，被动的微处理器控制的设备在楼梯运动。
Powered knee-ankle prostheses can offer benefits over conventional passive devices during stair locomotion by providing biomimetic net-positive work and active control of joint angles. However, many modern control approaches for stair ascent and descent are often limited by time-consuming hand-tuning of user/task-specific parameters, predefined trajectories that remove user volition, or heuristic approaches that cannot be applied to both stair ascent and descent. This work presents a phase-based hybrid kinematic and impedance controller (HKIC) that allows for semi-volitional, biomimetic stair ascent and descent at a variety of step heights. We define a unified phase variable for both stair ascent and descent that utilizes lower-limb geometry to adjust to different users and step heights. We extend our prior data-driven impedance model for variable-incline walking, modifying the cost function and constraints to create a continuously-varying impedance parameter model for stair ascent and descent over a continuum of step heights. Experiments with above-knee amputee participants (2) validate that our HKIC controller produces biomimetic ascent and descent joint kinematics, kinetics, and work across four step height configurations. We also show improved kinematic performance with our HKIC controller in comparison to a passive microprocessor-controlled device during stair locomotion.