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Content Provider | IEEE Xplore Digital Library |
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Author | Scandaroli, G.G. Borges, G.A. Ishihara, J.Y. Terra, M.H. da Rocha, A.F. de Oliveira Nascimento, F.A. |
Copyright Year | 2009 |
Description | Author affiliation: Digital Signal Processing Group (GPDS), Department of Electrical Engineering, University of Brasília, CP 4386, DF, 70919-970, Brazil (da Rocha, A.F.; de Oliveira Nascimento, F.A.) || Robotics, Automation and Vision Group (GRAV), Department of Electrical Engineering, University of Brasília, CP 4386, DF, 70919-970, Brazil (Scandaroli, G.G.; Borges, G.A.; Ishihara, J.Y.) || University of São Paulo at São Carlos, CP 359, SP, 13566-590, Brazil (Terra, M.H.) |
Abstract | This paper presents a new application in the field of rehabilitation robotics. It is part of a research project which consists of the development of a robotic leg prosthesis for above knee amputees. This application aims at providing real-time estimates of the prosthesis foot orientation with respect to ground. An Extended Kalman Filter (EKF) is used in order to estimate the foot orientation based on gyroscope and infrared measurements. Moreover a constraint equation is also included in the EKF to guarantee the constraints in the estimates. Preliminary tests were performed in a platform built for the prosthesis prototype. The results discussed in this paper reveal the feasibility of such technique. |
Starting Page | 1112 |
Ending Page | 1117 |
File Size | 484069 |
Page Count | 6 |
File Format | |
ISBN | 9781424438037 |
DOI | 10.1109/IROS.2009.5354820 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2009-10-10 |
Publisher Place | USA |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Foot Knee Robots Prosthetics Rehabilitation robotics Legged locomotion Leg Gyroscopes Equations Testing nonlinear estimation above knee prosthesis robotic prosthesis |
Content Type | Text |
Resource Type | Article |
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