ArticleIEEE transactions on automatic control2017
Stable, Robust Hybrid Zero Dynamics Control of Powered Lower-Limb Prostheses.
Article in IEEE transactions on automatic control, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 15 papers.
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Who cites it
15 citing papers in PubMed, 62 citations in OpenAlex.
- A Review of Current State-of-the-Art Control Methods for Lower-Limb Powered Prostheses.Annual reviews in control · 2023Article
- Nonholonomic Virtual Constraints for Control of Powered Prostheses Across Walking Speeds.IEEE transactions on control systems technology : a publication of the IEEE Control Systems Society · 2022Article
- Design and Validation of a Powered Knee-Ankle Prosthesis with High-Torque, Low-Impedance Actuators.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2020Article
- Extremum Seeking Control for Model-Free Auto-Tuning of Powered Prosthetic Legs.IEEE transactions on control systems technology : a publication of the IEEE Control Systems Society · 2020Article
- Decentralized Passivity-Based Control With a Generalized Energy Storage Function for Robust Biped Locomotion.Journal of dynamic systems, measurement, and control · 2019Article
- Variable Impedance Control of Powered Knee Prostheses Using Human-Inspired Algebraic Curves.Journal of computational and nonlinear dynamics · 2019Article
- Hybrid Nonlinear Disturbance Observer Design for Underactuated Bipedal Robots.Proceedings of the ... IEEE Conference on Decision & Control. IEEE Conference on Decision & Control · 2018Article
- HUMAN-INSPIRED ALGEBRAIC CURVES FOR WEARABLE ROBOT CONTROL.Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference · 2018Article
- Continuous-Phase Control of a Powered Knee-Ankle Prosthesis: Amputee Experiments Across Speeds and Inclines.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2018Article
- Design and Benchtop Validation of a Powered Knee-Ankle Prosthesis with High-Torque, Low-Impedance Actuators.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2018Article
- Toward Unified Control of a Powered Prosthetic Leg: A Simulation Study.IEEE transactions on control systems technology : a publication of the IEEE Control Systems Society · 2018Article
- Removing Phase Variables from Biped Robot Parametric Gaits.Control Technology and Applications. Control Technology and Applications · 2017Article
- Automatic Tuning of Virtual Constraint-Based Control Algorithms for Powered Knee-Ankle Prostheses.Control Technology and Applications. Control Technology and Applications · 2017Article
- Piecewise and unified phase variables in the control of a powered prosthetic leg.IEEE ... International Conference on Rehabilitation Robotics : [proceedings] · 2017Article
- Characterizing and modeling the joint-level variability in human walking.Journal of biomechanics · 2016Article
Corrections and comments
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Authors and funding
2 authors at 2 institutions in 1 country.
Funding
Abstract
To improve the quality of life for lower-limb amputees, powered prostheses are being developed. Advanced control schemes from the field of bipedal robots, such as hybrid zero dynamics (HZD), may provide great performance. HZD-based control specifies the motion of the actuated joints using output functions to be zeroed, and the required torques are calculated using input-output linearization. For one-step periodic gaits, there is an analytic metric of stability. To apply HZD-based control on a powered prosthesis, several modifications must be made. Because the prosthesis and amputee are only connected via the socket, the prosthesis controller does not have access to the full state of the biped, which decentralizes the form of the input-output linearization. The differences between the amputated and contralateral sides result in a two-step periodic gait, which requires the orbital stability metric to be extended. In addition, because human gait is variable, the prosthesis controller must be robust to continuous moderate perturbations. This robustness is proved using local input-to-state stability and demonstrated with simulations of an above-knee amputee model.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.