A Phase Variable Approach to Volitional Control of Powered Knee-Ankle Prostheses.

ABSTRACT: Although there has been recent progress in control of multi-joint prosthetic legs for periodic tasks such as walking, volitional control of these systems for non-periodic maneuvers is still an open problem. In this paper, we develop a new controller that is capable of both periodic walking and common volitional leg motions based on a piecewise holonomic phase variable through a finite state machine. The phase variable is constructed by measuring the thigh angle, and the transitions in the finite state machine are formulated through sensing foot contact together with attributes of a nominal reference gait trajectory. The controller was implemented on a powered knee-ankle prosthesis and tested with a transfemoral amputee subject, who successfully performed a wide range of periodic and non-pe

SUBMITTER: Rezazadeh S 

PROVIDER: S-EPMC6368100 | biostudies-literature | 2018 Oct

REPOSITORIES: biostudies-literature