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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Varol, H.A. Sup, F. Goldfarb, M. |
| Copyright Year | 2009 |
| Description | Author affiliation: Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235 USA (Sup, F.; Goldfarb, M.) || Department of Electrical Engineering and Computer Science, Vanderbilt University, Nashville, TN 37235 USA (Varol, H.A.) |
| Abstract | This work extends the three level powered knee and ankle prosthesis control framework previously developed by the authors by adding sitting mode. A middle level finite state based impedance controller is designed to accommodate sitting, sit-to-stand and stand-to-sit transitions. Moreover, a high level Gaussian Mixture Model based intent recognizer is developed to distinguish between standing and sitting modes and switch the middle level controllers accordingly. Experimental results with unilateral transfemoral amputee subject show that sitting down and standing up intent can be inferred from the prosthesis sensor signals by the intent recognizer. Furthermore, it is demonstrated that the prosthesis generates net active power of 50 W during standing up and dissipates up to 50 W of power during stand-to-sit transition at the knee joint. |
| Starting Page | 645 |
| Ending Page | 651 |
| File Size | 429800 |
| Page Count | 7 |
| File Format | |
| ISBN | 9781424437887 |
| ISSN | 19457898 |
| DOI | 10.1109/ICORR.2009.5209582 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-06-23 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Knee Legged locomotion Torque Switches Power generation economics Medical services Rehabilitation robotics Impedance Power generation Prosthetics |
| Content Type | Text |
| Resource Type | Article |
| Subject | Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering |
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