Nonholonomic Virtual Constraints for Control of Powered Prostheses Across Walking Speeds

Horn, Jonathan; Gregg, Robert D.

doi:10.1109/tcst.2021.3133823

Cited by 4 publications

(2 citation statements)

References 51 publications

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“…1). Finite state impedance controller (virtual springs and dampers between thighs and pelvis) and virtual holonomic constraints can introduce angular velocity non-linearities that more closely resemble the biological kinematics [17,34,42]. Therefore, for future studies on active HKAF prosthesis control strategies, integration of finite state impedance controller or virtual holonomic constraints, in addition to our algorithm may be necessary to achieve appropriate hip kinematics.…”

Section: Discussionmentioning

confidence: 99%

A pelvic kinematic approach for calculating hip angles for active hip disarticulation prosthesis control

Golshan,

Baddour,

Gholizadeh

et al. 2023

J NeuroEngineering Rehabil

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Background Control system design for a microprocessor-controlled hip–knee–ankle–foot (HKAF) prosthesis is a challenge since hip disarticulation amputees lack the entire leg and, therefore, only have pelvis movement as user-guided input. This research proposes a method for determining hip joint angles from pelvis movement in a control system for the next generation of powered prostheses. Method Three-dimensional pelvic motion and stance time of 10 transfemoral (TF) prosthetic users were used to identify important features and to develop an algorithm to calculate hip angles from pelvis movement based on correlation and linear regression results. The algorithm was then applied to a separate (independent) TF group to validate algorithm performance. Results The proposed algorithm calculated viable hip angles during walking by utilizing pelvic rotation, pelvic tilt, and stance time. Small angular differences were found between the algorithm results and motion capture data. The greatest difference was for hip maximum extension angle (2.5 ± 2.0°). Conclusions Since differences between algorithm output and motion data were within participant standard deviations, the developed algorithm could be used to determine the desired hip angle from pelvis movements. This study will aid the future development of gait control systems for new active HKAF prostheses.

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Section: Discussionmentioning

confidence: 99%

A pelvic kinematic approach for calculating hip angles for active hip disarticulation prosthesis control

Golshan,

Baddour,

Gholizadeh

et al. 2023

J NeuroEngineering Rehabil

View full text Add to dashboard Cite

show abstract

“…The gains ν pd and all other user-selected terms in the QP were kept consistent between controllers. Finally, we compared the performance to a traditional PD controller, which is used in other prosthesis control methods [5], [30]. The experimental results are shown in the supplemental video [31].…”

Section: Human-prosthesis Experimentationmentioning

confidence: 99%