TY - GEN
T1 - Compliant Control of a Transfemoral Prosthesis by combining Feed-Forward and Feedback
AU - Heins, Sophie
AU - Flynn, Louis
AU - Laloyaux, Henri
AU - Geeroms, Joost
AU - Lefeber, Dirk
AU - Ronsse, Renaud
PY - 2020/11
Y1 - 2020/11
N2 - This paper reports the development and preliminary validation of a bio-inspired controller using an adaptive oscillator and artificial primitives for a powered ankle-knee prosthesis, namely the CYBERLEGsPlusPlus Gammaprosthesis. The proposed controller combines a feed-forward reference torque component with a feedback impedance-based torque component for the prosthetic knee and ankle joints. A treadmill walking experiment was conducted with a transfemoral amputee to assess the relevance of the feed-forward torque component, compared to a pure feedback control approach. Results showed that adding a feed-forward torque component to both prosthetic joints allowed a decrease of the feedback gains, and thus a more compliant behavior of the prosthesis. This combined condition was well-perceived by the pilot transfemoral amputee.
AB - This paper reports the development and preliminary validation of a bio-inspired controller using an adaptive oscillator and artificial primitives for a powered ankle-knee prosthesis, namely the CYBERLEGsPlusPlus Gammaprosthesis. The proposed controller combines a feed-forward reference torque component with a feedback impedance-based torque component for the prosthetic knee and ankle joints. A treadmill walking experiment was conducted with a transfemoral amputee to assess the relevance of the feed-forward torque component, compared to a pure feedback control approach. Results showed that adding a feed-forward torque component to both prosthetic joints allowed a decrease of the feedback gains, and thus a more compliant behavior of the prosthesis. This combined condition was well-perceived by the pilot transfemoral amputee.
UR - http://www.scopus.com/inward/record.url?scp=85095586763&partnerID=8YFLogxK
U2 - 10.1109/BioRob49111.2020.9224434
DO - 10.1109/BioRob49111.2020.9224434
M3 - Conference paper
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 452
EP - 458
BT - 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
PB - IEEE
T2 - 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
Y2 - 28 November 2020 through 1 December 2020
ER -