Obtaining Natural Sit-to-Stand Motion with a Biomimetic Controller for Powered Knee Prostheses
Joint Authors
Wu, Molei
Haque, Md Rejwanul
Shen, Xiangrong
Source
Journal of Healthcare Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-6, 6 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-09-18
Country of Publication
Egypt
No. of Pages
6
Main Subjects
Abstract EN
Standing up from a seated position is a common activity in people’s daily life.
However, for transfemoral (i.e., above-knee) amputees fitted with traditional passive prostheses, the sit-to-stand (STS) transition is highly challenging, due to the inability of the prosthetic joints in generating torque and power output.
In this paper, the authors present a new STS control approach for powered lower limb prostheses, which is able to regulate the power delivery of the prosthetic knee joint to obtain natural STS motion similar to that displayed by healthy subjects.
Mimicking the dynamic behavior of the knee in the STS, a unified control structure provides the desired control actions by combining an impedance function with a time-based ramp-up function.
The former provides the gradual energy release behavior desired in the rising phase, while the latter provides the gradual energy injection behavior desired in the loading phase.
This simple and intuitive control structure automates the transition between the two phases, eliminating the need for explicit phase transition and facilitating the implementation in powered prostheses.
Human testing results demonstrated that this new control approach is able to generate a natural standing-up motion, which is well coordinated with the user’s healthy-side motion in the STS process.
American Psychological Association (APA)
Wu, Molei& Haque, Md Rejwanul& Shen, Xiangrong. 2017. Obtaining Natural Sit-to-Stand Motion with a Biomimetic Controller for Powered Knee Prostheses. Journal of Healthcare Engineering،Vol. 2017, no. 2017, pp.1-6.
https://search.emarefa.net/detail/BIM-1180932
Modern Language Association (MLA)
Wu, Molei…[et al.]. Obtaining Natural Sit-to-Stand Motion with a Biomimetic Controller for Powered Knee Prostheses. Journal of Healthcare Engineering No. 2017 (2017), pp.1-6.
https://search.emarefa.net/detail/BIM-1180932
American Medical Association (AMA)
Wu, Molei& Haque, Md Rejwanul& Shen, Xiangrong. Obtaining Natural Sit-to-Stand Motion with a Biomimetic Controller for Powered Knee Prostheses. Journal of Healthcare Engineering. 2017. Vol. 2017, no. 2017, pp.1-6.
https://search.emarefa.net/detail/BIM-1180932
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1180932