Lower limb prostheses have undergone significant developments in the last decades. However, there are several areas that have a scope for improvement through simplifications in the mechatronic design as well as in the control architecture. This paper focuses on the mechatronic design of a powered transtibial prosthesis and on the implementation of a control architecture, which is based on an adaptive frequency oscillator method that makes use of one inertial measurement unit. The control is capable of providing a positive push-off power to the prosthesis during level-ground walking and of adapting the response of the prosthesis to different walking speeds. The control architecture has been implemented and validated on a 3D printed prototype of a transtibial prosthesis. The experimental results show that the ankle joint can mimic the angle of a healthy subject with a root mean square error of 2.9° and that the gait transitions are tracked within two gait cycles.
Mechatronic design & adaptive control of a lower limb prosthesis
2020-11-01
Mazumder , A & Carloni , R 2020 , Mechatronic design & adaptive control of a lower limb prosthesis . in 2020 8th IEEE International Conference on BiomedicalRobotics and Biomechatronics (BioRob) . , 9224340 , Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics , vol. 2020-November , IEEE , pp. 446-451 , IEEE International Conference on Biomedical Robotics and Biomechatronics , New York , New York , United States , 29/11/2020 . https://doi.org/10.1109/BioRob49111.2020.9224340
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |