Compliant Control of a Transfemoral Prosthesis by combining Feed-Forward and Feedback

Sophie Heins, Louis Flynn, Henri Laloyaux, Joost Geeroms, Dirk Lefeber, Renaud Ronsse

Research output: Chapter in Book/Report/Conference proceedingConference paper

4 Citations (Scopus)

Abstract

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.
Original languageEnglish
Title of host publication8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
PublisherIEEE
Pages452-458
Number of pages7
ISBN (Electronic)9781728159072
DOIs
Publication statusPublished - Nov 2020
Event 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) -
Duration: 28 Nov 20201 Dec 2020

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume2020-November
ISSN (Print)2155-1774

Conference

Conference 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
Period28/11/201/12/20

Fingerprint

Dive into the research topics of 'Compliant Control of a Transfemoral Prosthesis by combining Feed-Forward and Feedback'. Together they form a unique fingerprint.

Cite this