动力膝关节-踝关节假体连续变化速度和倾斜度的相位变控制。

T Kevin Best, Kyle R Embry, Elliott J Rouse, Robert D Gregg
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引用次数: 19

摘要

大多数下肢机器人假体控制器需要单独调整参数集,以适应设备设计的每一个速度和倾斜度组合。由于移动发生在速度和倾斜度的连续体上,因此这种设计范式需要调整大量的参数。这种限制激发了一种替代控制框架,使行走在一定的速度和倾斜度范围内,而只需要有限数量的可调参数。在这项工作中,我们提出了一个连续变化的运动学控制器在自定义动力膝踝假体上的实现。控制器使用从剩余大腿角度导出的相位变量,以及实时估计的地面倾斜和行走速度,从一个连续的健全的运动学数据模型中计算适当的膝关节和踝关节角度。我们修改了现有的相位变量架构,以允许速度和倾斜度的变化,量化了各种参考的速度和倾斜度估计算法的闭环精度,并通过观察它复制了在速度和倾斜度变化时看到的健全步态的运动学趋势来实验验证控制器。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

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Phase-Variable Control of a Powered Knee-Ankle Prosthesis over Continuously Varying Speeds and Inclines.

Most controllers for lower-limb robotic prostheses require individually tuned parameter sets for every combination of speed and incline that the device is designed for. Because ambulation occurs over a continuum of speeds and inclines, this design paradigm requires tuning of a potentially prohibitively large number of parameters. This limitation motivates an alternative control framework that enables walking over a range of speeds and inclines while requiring only a limited number of tunable parameters. In this work, we present the implementation of a continuously varying kinematic controller on a custom powered knee-ankle prosthesis. The controller uses a phase variable derived from the residual thigh angle, along with real-time estimates of ground inclination and walking speed, to compute the appropriate knee and ankle joint angles from a continuous model of able-bodied kinematic data. We modify an existing phase variable architecture to allow for changes in speeds and inclines, quantify the closed-loop accuracy of the speed and incline estimation algorithms for various references, and experimentally validate the controller by observing that it replicates kinematic trends seen in able-bodied gait as speed and incline vary.

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FBG-based Shape-Sensing to Enable Lateral Deflection Methods of Autonomous Needle Insertion. An Energetic Approach to Task-Invariant Ankle Exoskeleton Control. Controlling Powered Prosthesis Kinematics over Continuous Transitions Between Walk and Stair Ascent. Effects of Personalization on Gait-State Tracking Performance Using Extended Kalman Filters. Improving Amputee Endurance over Activities of Daily Living with a Robotic Knee-Ankle Prosthesis: A Case Study.
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