ArticleJournal of computational and nonlinear dynamics2019
Variable Impedance Control of Powered Knee Prostheses Using Human-Inspired Algebraic Curves.
Article in Journal of computational and nonlinear dynamics, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
What it found
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Who cites it
4 citing papers in PubMed.
- Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Adaptive Speed and Incline Walking.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 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
- Control Framework for Sloped Walking With a Powered Transfemoral Prosthesis.Frontiers in neurorobotics · 2021Article
- Variable Impedance Control and Learning-A Review.Frontiers in robotics and AI · 2020Review
Corrections and comments
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Authors and funding
2 authors.
Funding
Abstract
Achieving coordinated motion between transfemoral amputee patients and powered prosthetic joints is of paramount importance for powered prostheses control. In this article, we propose employing an algebraic curve representation of nominal human walking data for a powered knee prosthesis controller design. The proposed algebraic curve representation encodes the desired holonomic relationship between the human and the powered prosthetic joints with no dependence on joint velocities. For an impedance model of the knee joint motion driven by the hip angle signal, we create a continuum of equilibria along the gait cycle using a variable impedance scheme. Our variable impedance-based control law, which is designed using the parameter-dependent Lyapunov function framework, realizes the coordinated hip-knee motion with a family of spring and damper behaviors that continuously change along the human-inspired algebraic curve. In order to accommodate variability in the user's hip motion, we propose a computationally efficient radial projection-based algorithm onto the human-inspired algebraic curve in the hip-knee plane.
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Registered trials
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