2014 European Control Conference (ECC) 2014
DOI: 10.1109/ecc.2014.6862612
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Motion control of a robotic transtibial prosthesis during transitions between level ground and stairs

Abstract: This paper presents a hierarchical control strategy for a robotic transtibial prosthesis to realize smooth locomotion transitions between level ground and stairs. The high level controller identifies current terrain with a fuzzy logic based method and decides the corresponding parameters for lower level controllers. The middle level controller detects different gait phases of one gait cycle on a specific terrain and decides which control method to be used for the current phase. Based on the recognized terrain … Show more

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Cited by 4 publications
(6 citation statements)
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“…The development of powered prostheses has necessitated the implementation of control systems to ensure desired functionality of these prostheses. Most of the control strategies implemented to date have been hierarchical in nature (Lawson et al, 2013; Hargrove et al, 2014; Young et al, 2014b; Yuan et al, 2014; Spanias et al, 2018). These have consisted of a high level (decision) control system, which deciphers the type of motion a user wants to perform, and a low level (execution) controller that oversees the actuation of said motion by the prosthesis.…”
Section: Introductionmentioning
confidence: 99%
“…The development of powered prostheses has necessitated the implementation of control systems to ensure desired functionality of these prostheses. Most of the control strategies implemented to date have been hierarchical in nature (Lawson et al, 2013; Hargrove et al, 2014; Young et al, 2014b; Yuan et al, 2014; Spanias et al, 2018). These have consisted of a high level (decision) control system, which deciphers the type of motion a user wants to perform, and a low level (execution) controller that oversees the actuation of said motion by the prosthesis.…”
Section: Introductionmentioning
confidence: 99%
“…They use the mechanical system to simulate the effect of compensation forces necessary for the patient to maintain balance as s/he moves (Adebayo et al, 2011;Arotaritei, Turnea, Filep, Ilea and Rotariu, 2015;Casallas et al, 2011;Chen and Wang, 2015;Wang et al, 2015). The prototype is able to absorb the force generated when the prosthesis comes into contact with a surface, avoiding bounce effects, and it also compensates the angle between the basis of the prosthesis and the coupling axis, thus allowing the user to walk on steep surfaces ( Bravo and Rengifo, 2014; Morgenroth et al, 2011;Yuan et al, 2014;Zheng and Wang, 2016;Zhu, Wang, Li, Sun and She, 2015;Zhu, Wang and Wang, 2014).…”
Section: General State Of the Art In The Field Of Orthopedic Technologymentioning
confidence: 99%
“…In the prototype by Yuan et al(2011) a digital control system is implemented to calculate the magnitude of the force necessary for the patient to maintain balance from its own weight; the angle between the components of the prosthesis regarding the ground and the part of the prosthesis coming into contact with the floor (Adebayo et al, 2011;Bellman et al, 2008;Cherelle et al, 2014Cherelle et al, , 2012Yuan et al, 2011;Yuan et al, 2014;Zheng and Wang, 2016;Zhu et al, 2015Zhu et al, , 2014. There is only one parameter left to the patient, the other ones are calculated by sensors located in diffrent parts of the prostesis.…”
Section: General State Of the Art In The Field Of Orthopedic Technologymentioning
confidence: 99%
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