A Novel Robust Model Reference Adaptive Impedance Control Scheme for an Active Transtibial Prosthesis

Heidarzadeh, Siamak; Sharifi, Mojtaba; Salarieh, Hassan; Alasty, Aria

doi:10.1017/s0263574719000146

Cited by 4 publications

(2 citation statements)

References 38 publications

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“…When introducing support vector machines, most literatures usually solve the dual optimization problem by introducing a function to get the optimization problem in the dual space. The constraints in the dual problem are easier to deal with in form and the nonlinear mapping in the dual problem can be implicitly represented by a kernel function, so that the kernel function or kernel matrix can be directly used in the solution to participate in the operation [14][15]. In recent years, with the deepening of the research on the original space optimization problem, a large number of literatures point out that the support vector machine can directly solve the original space optimization problem.…”

Section: Primitive Space Support Vector Machinementioning

confidence: 99%

Short-term Load Forecast of Integrated Energy System in Multi-station Fusion Scenario Based on Robust Model

2021

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Integrated Energy System (IES) is the development direction of energy consumption in the future. Through the coordinated design and planning of energy systems such as electricity, cooling, and heat, energy utilization can be effectively improved and the development of renewable energy units can be promoted. The purpose of this paper is to predict the short-term load of an integrated energy system in a multi-station fusion scenario based on a robust model. Convex Quadratic Loss Functions to Suppress Negative Effects of Outliers Non-convex Quadratic Loss Functions limit the maximum loss penalty for outliers. First, the loss function is expressed as the difference of two quadratic functions, and the corresponding robust model is built. Second, the optimization problem corresponding to the robust model is transformed into a system of linear equations using the CCCP technique and KKT conditions. Finally, the prediction accuracy of RLS-SVR model, SVR model and BP neural network model is compared. The results show that for cooling load prediction, the average relative error of the prediction model constructed by RLS-SVR is 1.05% and 1.12%, which is lower than other models.

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Section: Primitive Space Support Vector Machinementioning

confidence: 99%

Short-term Load Forecast of Integrated Energy System in Multi-station Fusion Scenario Based on Robust Model

2021

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“…Although great efforts have been made to measure active ankle joint stiffness [46], [52]- [54], less has been done for its active modulation within transtibial amputee prostheses. There are a few proposed stiffness control schemes for prosthesis design [55], [56], but only one recent study presents active single DoF ankle stiffness control [57] and this was done in simulation. In this paper, we aim to address the gap in active adjustment of ankle joint stiffness while still providing adequate position control, targeting both the frontal and sagittal plane in real time.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Interface Algorithm for Ankle Kinematics and Stiffness From Electromyographic Signals

Dimitrov

Bull

Farina

2020

IEEE Trans. Neural Syst. Rehabil. Eng.

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Shortcomings in capabilities of below-knee (transtibial) prostheses, compared to their biological counterparts, still cause medical complications and functional deficit to millions of amputees around the world. Although active (powered actuation) transtibial prostheses have the potential to bridge these gaps, the current control solutions limit their efficacy. Here we describe the development of a novel interface for two degrees-of-freedom position and stiffness control for below-knee amputees. The developed algorithm for the interface relies entirely on muscle electrical signals from the lower leg. The algorithm was tested for voluntary position and stiffness control in eight able-bodied and two transtibial amputees and for voluntary stiffness control with foot position estimation while walking in eight able-bodied and one transtibial amputee. The results of the voluntary control experiment demonstrated a promising target reaching success rate, higher for amputees compared to the able-bodied individuals (82.5% and 72.5% compared to 72.5% and 68.1% for the position and position and stiffness matching tasks respectively). Further, the algorithm could provide the means to control four stiffness levels during walking in both amputee and able-bodied individuals while providing estimates of foot kinematics (gait cycle cross-correlation >75% for the sagittal and >90% for the frontal plane and gait cycle root mean square error <7.5 • in sagittal and <3 • in frontal plane for able-bodied and amputee individuals across three walking speeds). The results from the two experiments demonstrate the feasibility of using this novel algorithm for online control of multiple degrees of freedom and of their stiffness in lower limb prostheses.

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Classification and Comparison of Mechanical Design of Powered Ankle–Foot Prostheses for Transtibial Amputees Developed in the 21st Century: A Systematic Review

Liu

Osman

Kouzbary

et al. 2021

Journal of Medical Devices

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A systematic review of the mechanical design of powered ankle-foot prostheses developed from 2000 to 2019 was conducted through database and manual searches. A total of 10 English and two Chinese databases were searched using the same keywords. Moreover, information on commercialized prostheses was collected through a manual search. A total of 8,729 publications were obtained from the database search, and 83 supplementary publications and 49 online product introductions were accumulated through the manual search. A total of 91 powered ankle-foot prostheses were extracted from 159 publications and online information after exclusion. The mechanical design characteristics of the prostheses were described briefly and compared after they were categorized into 11 subclassifications. This review revealed that a considerable number of powered ankle-foot prostheses were developed in the last 20 years. The development of such prostheses was characterized by alternative modes, that is, from pneumatic or hydraulic drivers to motorized drivers and from rigid transmissions to elastic actuators. This review contributes to the comprehensive understanding of current designs, which can benefit the combination of the advantages of and redundancy avoidance in future powered ankle-food protheses.

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A Novel Robust Model Reference Adaptive Impedance Control Scheme for an Active Transtibial Prosthesis

Cited by 4 publications

References 38 publications

Short-term Load Forecast of Integrated Energy System in Multi-station Fusion Scenario Based on Robust Model

Short-term Load Forecast of Integrated Energy System in Multi-station Fusion Scenario Based on Robust Model

Real-Time Interface Algorithm for Ankle Kinematics and Stiffness From Electromyographic Signals

Classification and Comparison of Mechanical Design of Powered Ankle–Foot Prostheses for Transtibial Amputees Developed in the 21st Century: A Systematic Review

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