Locomotion Envelopes for Adaptive Control of Powered Ankle Prostheses

Dhir, Neil; Dallali, Houman; Ficanha, Evandro M.; Ribeiro, Guilherme Aramizo; Rastgaar, Mo

doi:10.1109/icra.2018.8460929

Cited by 21 publications

(12 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Lower limb: the use of impedance based control strategies in CDRRs assisting patients with the lower limb disabilities is also reported by [100], Powered Ankle Prostheses [102], String Man [106], and LOPES [95], [96], [97].…”

Section: ) Force-based Impedance Control Strategymentioning

confidence: 77%

“…Target movements for rehabilitation: Most of the lower limb CDRRs are designed to assist all the joints of the lower limb; hip, knee and ankle joints. There are however some CDRRs to assist only one or two lower limb joints, such as, Powered Ankle Prostheses [102] and C-ALEX [98] that are proposed to assist the rehabilitation of ankle joint and hipknee joints, respectively. The categorization of lower limb CDRRs based on number of target joints for rehabilitation is shown in Table 8.…”

Section: B Cable-driven Robots For Lower Limbsmentioning

confidence: 99%

See 1 more Smart Citation

Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies

et al. 2021

View full text Add to dashboard Cite

Significant attention has been paid to robotic rehabilitation using various types of actuator and power transmission. Amongst those, cable driven rehabilitation robots (CDRRs) are relatively newer and their control strategies have been evolving in recent years. CDRRs offer several promising features, such as low inertia, lightweight, high payload-to-weight ratio, large work-space and configurability. In this paper, we categorize and review the cable driven rehabilitation robots in three main groups concerning their applications for upper limb, lower limb, and waist rehabilitation. For each group, target movements are identified, and promising designs of CDRRs are analyzed in terms of types of actuators, controllers and their interactions with human. Particular attention has been given to robots with verified clinical performance in actual rehabilitation settings. A large part of this paper is dedicated to comparing the control strategies and techniques of CDRRs under five main categories of: Impedance-based, PID-based, Admittance-based, Assist-as-needed (AAN) and Adaptive controllers. We have carefully contrasted the advantages and disadvantages of those methods with the aim of assisting the design of future CDRRs.

show abstract

Section: ) Force-based Impedance Control Strategymentioning

confidence: 77%

Section: B Cable-driven Robots For Lower Limbsmentioning

confidence: 99%

Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies

et al. 2021

View full text Add to dashboard Cite

show abstract

“…Too fast or too slow motion of robotic device would make a conflict with the intact limb and bring another disturbance to the torso. The conventional trajectory following method, such as position (Scherillo et al, 2003) or impedance trajectory (Dhir et al, 2018), is not suitable in standing push-recovery task because there is no obvious rhythm motion and torque-angle relationship varies with unpredictable external disturbance. The impedance control-based algorithm is preferred in such a case.…”

Section: Discussionmentioning

confidence: 99%

Design of Muscle Reflex Control for Upright Standing Push-Recovery Based on a Series Elastic Robot Ankle Joint

et al. 2020

View full text Add to dashboard Cite

In physical human-robot interaction environment, ankle joint muscle reflex control remains significant and promising in human bipedal stance. The reflex control mechanism contains rich information of human joint dynamic behavior, which is valuable in the application of real-time decoding motion intention. Thus, investigating the human muscle reflex mechanism is not only meaningful in human physiology study but also useful for the robotic system design in the field of human-robot physical interaction. In this paper, a specialized ankle joint muscle reflex control algorithm for human upright standing push-recovery is proposed. The proposed control algorithm is composed of a proportional-derivative (PD)-like controller and a positive force controller, which are employed to mimic the human muscle stretch reflex and muscle tendon force reflex, respectively. Reflex gains are regulated by muscle activation levels of contralateral ankle muscles. The proposed method was implemented on a self-designed series elastic robot ankle joint (SERAJ), where the series elastic actuator (SEA) has the potential to mimic human muscle-tendon unit (MTU). During the push-recovery experimental study, the surface electromyography (sEMG), ankle torque, body sway angle, and velocity of each subject were recorded in the case where the SERAJ was unilaterally kneed on each subject. The experimental results indicate that the proposed muscle reflex control method can easily realize upright standing push-recovery behavior, which is analogous to the original human behavior.

show abstract

“…Additionally, the muscle activity of the tibialis anterior (TA), peroneus longus (PL), soleus (SOL), and gastrocnemius (GA) muscles were measured and sampled at 2000 Hz. These muscles were selected based on their contribution to ankle stabilization and rotation [15]. The EMG signals were low-passed filtered by the Delsys filtering software to reduce motion artifact.…”

Section: Methodsmentioning

confidence: 99%

“…The mechanical impedance defines how much reactive torque the ankle generates when an external disturbance changes the ankle angle. Some prostheses are capable of modulating the ankle impedance [8]- [15] and experimental devices were developed to test the accuracy of this modulation [16], [17]. A good approach to control these prostheses would be to modulate the same ankle mechanical impedance of the amputee prior to the amputation.…”

Section: Introductionmentioning

confidence: 99%

Estimation and Prediction of the Human Gait Dynamics for the Control of an Ankle-Foot Prosthesis

Ribeiro¹

View full text Add to dashboard Cite

Locomotion Envelopes for Adaptive Control of Powered Ankle Prostheses

Cited by 21 publications

References 22 publications

Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies

Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies

Design of Muscle Reflex Control for Upright Standing Push-Recovery Based on a Series Elastic Robot Ankle Joint

Estimation and Prediction of the Human Gait Dynamics for the Control of an Ankle-Foot Prosthesis

Contact Info

Product

Resources

About