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Optimal control for the active above-knee prosthesis.

D Popović1, M N Oğuztöreli, R B Stein

  • 1University of Alberta, Division of Neuroscience, Edmonton, Canada.

Annals of Biomedical Engineering
|January 1, 1991
PubMed
Summary
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This study presents a new control method for active above-knee prostheses using artificial reflex control and optimal tracking. This hierarchical approach improves prosthesis control by reducing abrupt on-off effects for smoother gait.

Area of Science:

  • Biomedical Engineering
  • Robotics
  • Control Systems

Background:

  • Active above-knee prostheses require sophisticated control for natural gait.
  • Existing finite-state control methods can exhibit undesirable on-off effects.
  • Prosthetic joint actuators face limitations in torque and power due to self-containment.

Purpose of the Study:

  • To simulate and evaluate a hierarchical closed-loop control method for active above-knee prostheses.
  • To integrate artificial reflex control (an extension of finite-state control) with optimal tracking at the actuator level.
  • To address actuator limitations and reduce switching effects for improved prosthesis functionality.

Main Methods:

  • A hierarchical control structure was implemented, combining artificial reflex control (strategic level) and optimal tracking (actuator level).

Related Experiment Videos

  • Optimal tracking, based on dynamic programming, was applied at the actuator level, considering leg dynamics and control switching.
  • The method was simulated for a selected gait activity, focusing on real-time applicability.

    • Main Results:

    • The integration of optimal tracking at the actuator level effectively reduced the on-off effects associated with artificial reflex control.
    • The proposed control strategy accounts for prosthetic joint actuator limitations (torque, power) inherent in self-contained artificial legs.
    • The computational load suggests the hierarchical structure is suitable for real-time implementation.

    Conclusions:

    • The developed hierarchical control method offers a viable approach for enhancing the control of active above-knee prostheses.
    • This strategy improves gait smoothness by mitigating abrupt transitions, leading to more natural prosthesis behavior.
    • The method is applicable to the design of advanced prosthetic elements and demonstrates potential for real-time clinical use.