Unifying the gait cycle in the control of a powered prosthetic leg

David Quintero, Anne E. Martin, Robert D. Gregg

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations

Abstract

This paper presents a novel control strategy for an above-knee powered prosthetic leg that unifies the entire gait cycle, eliminating the need to switch between controllers during different periods of gait. Current control methods divide the gait cycle into several sequential periods each with independent controllers, resulting in many patient-specific control parameters and switching rules that must be tuned by clinicians. Having a single controller could reduce the number of control parameters to be tuned for each patient, thereby reducing the clinical time and effort involved in fitting a powered prosthesis for a lower-limb amputee. Using the Discrete Fourier Transformation, a single virtual constraint is derived that exactly characterizes the desired actuated joint motion over the entire gait cycle. Because the virtual constraint is defined as a periodic function of a monotonically increasing phase variable, no switching or resetting is necessary within or across gait cycles. The output function is zeroed using feedback linearization to produce a single, unified controller. The method is illustrated with simulations of a powered knee-ankle prosthesis in an amputee biped model and with examples of systematically generated output functions for different walking speeds.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics
Subtitle of host publicationEnabling Technology Festival, ICORR 2015
EditorsDavid Braun, Haoyong Yu, Domenico Campolo
PublisherIEEE Computer Society
Pages289-294
Number of pages6
ISBN (Electronic)9781479918072
DOIs
Publication statusPublished - Sep 28 2015
Event14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015 - Singapore, Singapore
Duration: Aug 11 2015Aug 14 2015

Publication series

NameIEEE International Conference on Rehabilitation Robotics
Volume2015-September
ISSN (Print)1945-7898
ISSN (Electronic)1945-7901

Other

Other14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015
CountrySingapore
CitySingapore
Period8/11/158/14/15

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Rehabilitation
  • Electrical and Electronic Engineering

Cite this

Quintero, D., Martin, A. E., & Gregg, R. D. (2015). Unifying the gait cycle in the control of a powered prosthetic leg. In D. Braun, H. Yu, & D. Campolo (Eds.), Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics: Enabling Technology Festival, ICORR 2015 (pp. 289-294). [7281214] (IEEE International Conference on Rehabilitation Robotics; Vol. 2015-September). IEEE Computer Society. https://doi.org/10.1109/ICORR.2015.7281214