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

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

Onderzoeksoutput: Conference paper

4 Citaten (Scopus)

Samenvatting

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.
Originele taal-2English
Titel8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
UitgeverijIEEE
Pagina's452-458
Aantal pagina's7
ISBN van elektronische versie9781728159072
DOI's
StatusPublished - nov 2020
Evenement 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) -
Duur: 28 nov 20201 dec 2020

Publicatie series

NaamProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume2020-November
ISSN van geprinte versie2155-1774

Conference

Conference 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
Periode28/11/201/12/20

Vingerafdruk

Duik in de onderzoeksthema's van 'Compliant Control of a Transfemoral Prosthesis by combining Feed-Forward and Feedback'. Samen vormen ze een unieke vingerafdruk.

Citeer dit