NDLI: Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition

Content Provider	IEEE Xplore Digital Library
Author	Huihua Zhao Reher, J. Horn, J. Paredes, V. Ames, A.D.
Copyright Year	2015
Description	Author affiliation: Mech. Eng., Texas A&M Univ., College Station, TX, USA (Reher, J.; Horn, J.; Paredes, V.) \|\| Mech. Eng. Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA, USA (Ames, A.D.) \|\| Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA (Huihua Zhao)
Abstract	This paper presents a systematic methodology for achieving stable locomotion behaviors on transfemoral prostheses, together with a framework for transitioning between these behaviors-both of which are realized experimentally on the self-contained custom-built prosthesis AMPRO. Extending previous results for translating robotic walking to prosthesis, the first main contribution of this paper is the gait generation and control development for realizing dynamic stair climbing. This framework leads to the second main contribution of the paper: a methodology for motion intent recognition, allowing for natural and smooth transitions between different motion primitives, e.g., standing, level walking, and stair climbing. The contributions presented in this paper, including stair ascent and transitioning between motion primitives, are verified in simulation and realized experimentally on AMPRO. Improved tracking and energy efficiency is seen when the online optimization based controller is utilized for stair climbing and the motion intent recognition algorithm successfully transitions between motion primitives with a success rate of over 98%.
Starting Page	265
Ending Page	270
File Size	466241
Page Count	6
File Format	PDF
ISSN	19457901
e-ISBN	9781479918089
DOI	10.1109/ICORR.2015.7281210
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-11
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Knee Torque Switches Optimization Prosthetics
Content Type	Text
Resource Type	Article
Subject	Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering

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