Despite recent developments in solutions to replace the missing limb of transfemoral amputees and restore natural locomotion, the use of these solutions remains limited. To date, the potential benefit of using powered prostheses is strongly impacted by the challenges that are yet to be addressed regarding their development, both on their design and control methods. An emerging trend for building the control strategies for the prostheses actuators takes advantage of bio-inspiration, i.e. the control laws rely on biological principles that have been highlighted in healthy locomotion. In this dissertation, bio-inspired control strategies for a powered transfemoral prosthesis are presented. The following biological concepts are explored throughout this work: (i) Central Pattern Generators (CPGs), which can be seen as a set of coupled oscillators responsible for providing the rhythmic characteristics of locomotion; (ii) motor primitives, which are considered to be the principal components of muscles stimulations; and (iii) the inverse internal models of the cerebellum, which plays an essential role in motor learning and adaptation. This dissertation presents three bio-inspired controllers for a representative compliant prosthesis equipped with series-elastic knee and ankle joints. The three control architectures rely on compliant position tracking by combining a feed-forward torque component with an impedance-based torque component for both joints of the prosthesis. The first controller simply incorporates reference torque and angle profiles associated to healthy walking that were taken from the literature, and it is mainly used to validate the feasibility of torque-based control strategies for the prosthesis without the need for torque sensing. The second version of the controller includes artificial, Gaussian-like torque and angular primitives which, through proper recombination, generate the reference torque and angle patterns for both joints. It also integrates an artificial CPG implemented by an adaptive ...


    Access

    Download


    Export, share and cite



    Title :

    Design and evaluation of bio-inspired control strategies for transfemoral prosthesis



    Publication date :

    2021-01-01


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    An adaptive hybrid control architecture for an active transfemoral prosthesis

    Mazumder, Aniket / Hekman, Edsko E.G. / Carloni, Raffaella | BASE | 2022

    Free access


    Torque control of an active elastic transfemoral prosthesis via quasi-static modelling

    Heins, Sophie / Flynn, Louis / Geeroms, Joost et al. | BASE | 2018

    Free access

    Compliant Control of a Transfemoral Prosthesis by combining Feed-Forward and Feedback

    Heins, Sophie / Flynn, Louis / Laloyaux, Henri et al. | BASE | 2020

    Free access

    Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator

    Gao, Chang / Gehlhar, Rachel / Ames, Aaron D et al. | BASE | 2020

    Free access