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Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis
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Variable Impedance Control of Powered Knee Prostheses Using Human-Inspired Algebraic Curves.

Alireza Mohammadi1, Robert D Gregg2

  • 1Department of Electrical and Computer Engineering, The University of Michigan, Dearborn, MI 48128.

Journal of Computational and Nonlinear Dynamics
|April 14, 2020
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Summary
This summary is machine-generated.

This study introduces an algebraic curve for powered knee prosthesis control, enabling smooth, coordinated hip-knee motion in transfemoral amputees. A novel variable impedance strategy adapts to user hip movement for natural gait.

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Area of Science:

  • Biomedical Engineering
  • Robotics
  • Biomechanics

Background:

  • Coordinated motion between transfemoral amputee patients and powered prosthetic joints is crucial for effective prosthesis control.
  • Existing control strategies often lack adaptability to individual user gait dynamics.

Purpose of the Study:

  • To develop a novel control strategy for powered knee prostheses using an algebraic curve representation of human walking data.
  • To achieve seamless, coordinated hip-knee motion that adapts to user-specific gait variations.

Main Methods:

  • An algebraic curve representing nominal human walking data was employed for controller design.
  • A variable impedance scheme, designed using a parameter-dependent Lyapunov function, established a continuum of equilibria.
  • A radial projection algorithm was developed to manage variability in user hip motion.

Main Results:

  • The proposed control law successfully achieved coordinated hip-knee motion by continuously adapting spring and damper behaviors along the algebraic curve.
  • The radial projection algorithm efficiently accommodated variations in user hip motion, enhancing adaptability.
  • The controller demonstrated a velocity-independent holonomic relationship between human and prosthetic joints.

Conclusions:

  • The algebraic curve representation provides a robust framework for powered knee prosthesis control.
  • The variable impedance strategy and radial projection algorithm offer a promising approach for natural and adaptive prosthetic gait.
  • This method enhances functional mobility for transfemoral amputees by enabling intuitive, coordinated joint movement.