Piecewise and Unified Phase Variables in the Control of a Powered Prosthetic Leg

Overview

Journal IEEE Int Conf Rehabil Robot

Specialties Biotechnology
Rehabilitation Medicine

Date 2017 Aug 18

PMID 28814020

Citations 7

Authors

Dario J Villarreal

David Quintero

Robert D Gregg

Affiliations

Soon will be listed here.

Abstract

Many control methods have been proposed for powered prosthetic legs, ranging from finite state machines that switch between discrete phases of gait to unified controllers that have a continuous sense of phase. In particular, recent work has shown that a mechanical phase variable can parameterize the entire gait cycle for controlling a prosthetic leg during steady rhythmic locomotion. However, the unified approach does not provide voluntary control over non-rhythmic motions like stepping forward and back. In this paper we present a phasing algorithm that uses the amputee's hip angle to control both rhythmic and non-rhythmic motion through two modes: 1) a piecewise (PW) function that provides users voluntary control over stance and swing in a piecewise manner, and 2) a unified function that continuously synchronizes the motion of the prosthetic leg with the amputee user at different walking speeds. The two phase variable approaches are compared in experiments with a powered knee-ankle prosthesis used by an above-knee amputee subject.

Citing Articles

Robustification of Bayesian-Inference-Based Gait Estimation for Lower-limb Wearable Robots.

Hsu T, Gregg R, Thomas G IEEE Robot Autom Lett. 2024; 9(3):2104-2111.

PMID: 38313832 PMC: 10831317. DOI: 10.1109/lra.2024.3354558.

Real-Time Gait Phase Estimation for Robotic Hip Exoskeleton Control During Multimodal Locomotion.

Kang I, Molinaro D, Duggal S, Chen Y, Kunapuli P, Young A IEEE Robot Autom Lett. 2021; 6(2):3491-3497.

PMID: 34616899 PMC: 8488948. DOI: 10.1109/lra.2021.3062562.

Variable Impedance Control of Powered Knee Prostheses Using Human-Inspired Algebraic Curves.

Mohammadi A, Gregg R J Comput Nonlinear Dyn. 2020; 14(10):101007-10100710.

PMID: 32280314 PMC: 7104744. DOI: 10.1115/1.4043002.

A Phase Variable Approach for Improved Rhythmic and Non-Rhythmic Control of a Powered Knee-Ankle Prosthesis.

Rezazadeh S, Quintero D, Divekar N, Reznick E, Gray L, Gregg R IEEE Access. 2019; 7:109840-109855.

PMID: 31656719 PMC: 6813797. DOI: 10.1109/ACCESS.2019.2933614.

HUMAN-INSPIRED ALGEBRAIC CURVES FOR WEARABLE ROBOT CONTROL.

Mohammadi A, Gregg R Proc ASME Dyn Syst Control Conf. 2019; 2018.

PMID: 30906619 PMC: 6424523. DOI: 10.1115/DSCC2018-9061.

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