Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning.

ABSTRACT: Although the average healthy adult transitions from sit to stand over 60 times per day, most research on powered prosthesis control has only focused on walking. In this paper, we present a data-driven controller that enables sitting, standing, and walking with minimal tuning. Our controller comprises two high level modes of sit/stand and walking, and we develop heuristic biomechanical rules to control transitions. We use a phase variable based on the user's thigh angle to parameterize both walking and sit/stand motions, and use variable impedance control during ground contact and position control during swing. We extend previous work on data-driven optimization of continuous impedance parameter functions to design the sit/stand control mode using able-bodied data. Experiments with a powere

SUBMITTER: Welker CG 

PROVIDER: S-EPMC9850431 | biostudies-literature | 2022 Oct

REPOSITORIES: biostudies-literature