Toward Unified Control of a Powered Prosthetic Leg: A Simulation Study

Overview

Journal IEEE Trans Control Syst Technol

Date 2018 Feb 7

PMID 29403259

Citations 14

Authors

David Quintero

Anne E Martin

Robert D Gregg

Affiliations

Soon will be listed here.

Abstract

This brief presents a novel control strategy for a powered knee-ankle prosthesis that unifies the entire gait cycle, eliminating the need to switch between controllers during different periods of gait. A reduced-order Discrete Fourier Transformation (DFT) is used to define virtual constraints that continuously parameterize periodic joint patterns as functions of a mechanical phasing variable. In order to leverage the provable stability properties of Hybrid Zero Dynamics (HZD), hybrid-invariant Bézier polynomials are converted into unified DFT virtual constraints for various walking speeds. Simulations of an amputee biped model show that the unified prosthesis controller approximates the behavior of the original HZD design under ideal scenarios and has advantages over the HZD design when hybrid invariance is violated by mismatches with the human controller. Two implementations of the unified virtual constraints, a feedback linearizing controller and a more practical joint impedance controller, produce similar results in simulation.

Citing Articles

Quantifying the effect of sagittal plane joint angle variability on bipedal fall risk.

Mitchell A, Martin A PLoS One. 2022; 17(1):e0262749.

PMID: 35081142 PMC: 8791504. DOI: 10.1371/journal.pone.0262749.

Reinforcement Q-Learning Control With Reward Shaping Function for Swing Phase Control in a Semi-active Prosthetic Knee.

Hutabarat Y, Ekkachai K, Hayashibe M, Kongprawechnon W Front Neurorobot. 2020; 14:565702.

PMID: 33324190 PMC: 7726251. DOI: 10.3389/fnbot.2020.565702.

Extremum Seeking Control for Model-Free Auto-Tuning of Powered Prosthetic Legs.

Kumar S, Mohammadi A, Quintero D, Rezazadeh S, Gans N, Gregg R IEEE Trans Control Syst Technol. 2020; 28(6):2120-2135.

PMID: 33041615 PMC: 7546444. DOI: 10.1109/TCST.2019.2928514.

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.

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