ArticleControl Technology and Applications. Control Technology and Applications2017
Automatic Tuning of Virtual Constraint-Based Control Algorithms for Powered Knee-Ankle Prostheses.
Article in Control Technology and Applications. Control Technology and Applications, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
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The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
5 citing papers in PubMed.
- Unified Control of a Powered Knee-Ankle Prosthesis Enables Walking, Stairs, Transitions, and Other Daily Ambulation Activities.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2025Article
- 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
- Variable Impedance Control of Powered Knee Prostheses Using Human-Inspired Algebraic Curves.Journal of computational and nonlinear dynamics · 2019Article
- Autonomous multi-joint soft exosuit with augmentation-power-based control parameter tuning reduces energy cost of loaded walking.Journal of neuroengineering and rehabilitation · 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
Corrections and comments
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Authors and funding
4 authors.
Funding
Abstract
State-of-art powered prosthetic legs are often controlled using a collection of joint impedance controllers designed for different phases of a walking cycle. Consequently, finite state machines are used to control transitions between different phases. This approach requires a large number of impedance parameters and switching rules to be tuned. Since one set of control parameters cannot be used across different amputees, clinicians spend enormous time tuning these gains for each patient. This paper proposes a virtual constraint-based control scheme with a smaller set of control parameters, which are automatically tuned in real-time using an extremum seeking controller (ESC). ESC, being a model-free control method, assumes no prior knowledge of either the prosthesis or human. Using a singular perturbation analysis, we prove that the virtual constraint tracking errors are small and the PD gains remain bounded. Simulations demonstrate that our ESC-based method is capable of adapting the virtual-constraint based control parameters for amputees with different masses.
Identifiers
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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.