Continuous-Phase Control of a Powered Knee-Ankle Prosthesis: Amputee Experiments Across Speeds and Inclines.
Continuous-Phase Control of a Powered Knee-Ankle Prosthesis: Amputee Experiments Across Speeds and Inclines.
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DOI：
10.1109/tro.2018.2794536
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发表时间：
2018-06
期刊：
影响因子：
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通讯作者：
Gregg RD
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文献类型：
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作者：
Quintero D;Villarreal DJ;Lambert DJ;Kapp S;Gregg RD
电动假肢的控制系统通常将步态周期划分为几个周期，带有不同的控制器，导致数十个控制参数必须根据用户和活动进行调整。为了解决这一挑战，本文提出了一种控制方法，使用连续的、用户同步的相位感来统一动力膝关节-踝关节假体的步态周期。虚拟约束将期望的周期性关节轨迹表征为整个步幅上的相位变量的函数。相位变量是根据剩余的大腿运动计算的，使截肢者能够控制假肢关节模式的时间。这种连续的相位感使三名经股截肢患者能够以0.67至1.21m/S的速度行走，斜率从−2.5°至+9.0°。基于特定任务运动学的虚拟约束有助于在不同行走速度的关节工作中进行规范调整。在这些活动和用户之间推广一组固定的控制增益，从而最大限度地减少假体的配置时间。
Control systems for powered prosthetic legs typically divide the gait cycle into several periods with distinct controllers, resulting in dozens of control parameters that must be tuned across users and activities. To address this challenge, this paper presents a control approach that unifies the gait cycle of a powered knee-ankle prosthesis using a continuous, user-synchronized sense of phase. Virtual constraints characterize the desired periodic joint trajectories as functions of a phase variable across the entire stride. The phase variable is computed from residual thigh motion, giving the amputee control over the timing of the prosthetic joint patterns. This continuous sense of phase enabled three transfemoral amputee subjects to walk at speeds from 0.67 to 1.21 m/s and slopes from −2.5 to +9.0 deg. Virtual constraints based on task-specific kinematics facilitated normative adjustments in joint work across walking speeds. A fixed set of control gains generalized across these activities and users, which minimized the configuration time of the prosthesis.