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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Sup, F. Varol, H.A. Mitchell, J. Withrow, T.J. Goldfarb, M. |
| Copyright Year | 2009 |
| Description | Author affiliation: Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235 USA (Sup, F.; Mitchell, J.; Withrow, T.J.; Goldfarb, M.) || Department of Electrical Engineering and Computer Science, Vanderbilt University, Nashville, TN 37235 USA (Varol, H.A.) |
| Abstract | This paper presents an overview of the design and control of a fully self-contained prosthesis, which is intended to improve the mobility of transfemoral amputees. A finite-state based impedance control approach, previously developed by the authors, is used for the control of the prosthesis during walking and standing. The prosthesis was tested on an unilateral amputee subject for over-ground walking. Prosthesis sensor data (joint angles and torques) acquired during level ground walking experiments at a self-selected cadence demonstrates the ability of the device to provide a functional gait similar to normal gait biomechanics. Battery measurements during level ground walking experiments show that the self-contained device provides over 4,500 strides (9.0 km of walking at a speed of 5.1 km/h) between battery charges. |
| Starting Page | 638 |
| Ending Page | 644 |
| File Size | 454802 |
| Page Count | 7 |
| File Format | |
| ISBN | 9781424437887 |
| ISSN | 19457898 |
| DOI | 10.1109/ICORR.2009.5209625 |
| 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 Biomechanics Current measurement Battery charge measurement Impedance Biosensors Velocity measurement Prosthetics Testing |
| Content Type | Text |
| Resource Type | Article |
| Subject | Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering |
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