Design of a semi-active knee-ankle prosthesis

Pillai, Minerva V.; Kazerooni, H.; Hurwich, Andrew

doi:10.1109/icra.2011.5980178

Cited by 38 publications

(18 citation statements)

References 9 publications

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“…70 % of amputees are lower extremity amputees. In the United States, there are about 1.6 million people who have lost limbs [2,3]. Current biomedical technologies cannot regenerate human tissue.…”

Section: Introductionmentioning

confidence: 99%

Modelling of Magnetorheological Damper for Intelligent Bionic Leg and Simulation of Knee Joint Movement Control

Xie¹,

Liu²,

Yang³

2016

Int. j. simul. model.

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To compensate for missing functions of lower extremity amputees, this paper proposes a model of an intelligent bionic leg semi-actively controlled by a magnetorheological damper (MRD). A mechanical structure of the leg is designed, and with the help of Bouc-Wen model, a MRD forward dynamics model is constructed for simulation. On the basis of data obtained from simulations, the MRD inverse dynamics model is constructed by BP neural network. An integrated control platform is constructed for the intelligent bionic leg, on which the simulation for knee joint control is conducted. Results of the research show that the MRD forward dynamics model can precisely express relationships among damping force, velocity, and displacement, while the inverse forward dynamics model can accurately predict MRD control currents, thus obtaining precise trajectory tracking effects of knee joint movement.

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Section: Introductionmentioning

confidence: 99%

Modelling of Magnetorheological Damper for Intelligent Bionic Leg and Simulation of Knee Joint Movement Control

Xie¹,

Liu²,

Yang³

2016

Int. j. simul. model.

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“…These devices have been improved in the search of emulating the basic movements concerning gait cycle, standing as well as sitting tasks. Many functional devices have been introduced in the context of robotics technologies for ankle prosthesis (see [1][2][3][4][5], among others).…”

Section: Introductionmentioning

confidence: 99%

Composite active disturbance rejection robust control for a prototype of an active damping artificial ankle prosthesis

Serrano

Chairez

Luviano‐Juárez

2019

Asian Journal of Control

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The problem of robust control applied to adjust the configuration of an ankle prosthesis based on disturbance estimation has been addressed in this study. Active disturbance rejection control was the paradigm used for controlling the robotic prosthesis by means of a direct active estimation. Based on this active estimation, the robust controller implemented the disturbance cancellation providing a fast converge to the origin of the tracking error. The uncertainties affecting the prosthesis dynamics were identified by a high‐order extended state high gain observer. This identification was used to force the tracking between the actual position and force needed in the ankle prosthesis and some reference values obtained by a biomechanical gait cycle analysis. Therefore, the estimated states were used to implement a robust output feedback controller that was effective to reject actively the perturbations. This rejection implemented within the controller forced the trajectory tracking to a small vicinity of the origin. A strategy based on composite Lyapunov function served to prove that tracking problem for the prosthesis was successfully solved despite the switching nature of the gait cycle. The controller was implemented in numerical simulations for showing the convergence of the tracking error. The convergence of this tracking error to the region around the origin was obtained within the first second of simulation.

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“…As a civilized society, we have a responsibility to provide the necessary technical support for the life of these people. Intelligent bionic leg which is close to human healthy leg both in appearance and function is an advanced prosthesis [3,4]. It could maximum functionally simulate and approach the motion trajectory of human leg.…”

Section: Introductionmentioning

confidence: 99%

The bionic design and system identification of intelligent bionic leg with magneto-rheological damper

Xie

et al. 2015

Teh. vjesn.

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Original scientific paper Intelligent bionic leg (IBL) controlled by magneto-rheological (MR) damper is an advanced prosthesis. The structure of human knee joint and torque control methods of IBL knee joint are analysed. The bionic design of IBL with MR damper is introduced. The transfer function of IBL is gained by system identification and parameter tuning of PID control based on genetic algorithm is done. The combined control simulation based on PID method indicates that IBL with MR damper can track the normal gait of human healthy leg well. The transfer function can describe IBL system characteristics well and parameter tuning of PID control based on genetic algorithm is effective. Keywords: intelligent bionic leg; parameter tuning; PID control; system identification Bionička konstrukcija i identifikacija sustava inteligentne bioničke noge s magneto-reološkim prigušivačemIzvorni znanstveni članak Inteligentna bionička noga (IBL) upravljana magneto-reološkim (MR) prigušivačem predstavlja usavršenu protezu. Analizira se konstrukcija zgloba koljena kod čovjeka i metode reguliranja zakretnog momenta zgloba koljena IBL-a. Predstavlja se bionička konstrukcija IBL-a s MR prigušivačem. Prijenosna funkcija IBL-a postiže se identifikacijom sustava i podešavanjem parametara PID upravljanja na temelju genetičkog algoritma. Kombinirana simulacija upravljanja na osnovu PID metode pokazuje da IBL s MR prigušivačem može dobro oponašati normalan način hoda zdrave noge. Prijenosna funkcija može dobro opisati karakteristike IBL sustava i učinkovito je podešavanje parametara PID upravljanja na temelju genetičkog algoritma.

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Design of a semi-active knee-ankle prosthesis

Cited by 38 publications

References 9 publications

Modelling of Magnetorheological Damper for Intelligent Bionic Leg and Simulation of Knee Joint Movement Control

Modelling of Magnetorheological Damper for Intelligent Bionic Leg and Simulation of Knee Joint Movement Control

Composite active disturbance rejection robust control for a prototype of an active damping artificial ankle prosthesis

The bionic design and system identification of intelligent bionic leg with magneto-rheological damper

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