ArticleIEEE transactions on control systems technology : a publication of the IEEE Control Systems Society2022
Nonholonomic Virtual Constraints for Control of Powered Prostheses Across Walking Speeds.
Article in IEEE transactions on control systems technology : a publication of the IEEE Control Systems Society, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed.
- Extremum-Seeking Control for a Robotic Leg Prosthesis with Sensory Feedback.Sensors (Basel, Switzerland) · 2025Article
- Intelligent prosthetic hips and knees: from actuation to perception and control.Frontiers in neuroscience · 2025Review
- A pelvic kinematic approach for calculating hip angles for active hip disarticulation prosthesis control.Journal of neuroengineering and rehabilitation · 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
Corrections and comments
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Authors and funding
2 authors.
Funding
Abstract
This paper presents a method to design a nonholonomic virtual constraint (NHVC) controller that produces multiple distinct stance-phase trajectories for corresponding walking speeds. NHVCs encode velocity-dependent joint trajectories via momenta conjugate to the unactuated degree(s)-of-freedom of the system. We recently introduced a method for designing NHVCs that allow for stable bipedal robotic walking across variable terrain slopes. This work extends the notion of NHVCs for application to variable-cadence powered prostheses. Using the segmental conjugate momentum for the prosthesis, an optimization problem is used to design a single stance-phase NHVC for three distinct walking speed trajectories (slow, normal, and fast). This stance-phase controller is implemented with a holonomic swing phase controller on a powered knee-ankle prosthesis, and experiments are conducted with an able-bodied user walking in steady and non-steady velocity conditions. The control scheme is capable of representing 1) multiple, task-dependent reference trajectories, and 2) walking gait variance due to both temporal and kinematic changes in user motion.
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Registered trials
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