Simulations of knee angle control in dynamical Gait model for above knee prosthesis

Akdoğan, Kurtuluş Erinç; Yılmaz, Atila; Duman, Şeyma

doi:10.1109/siu.2009.5136467

Cited by 2 publications

(4 citation statements)

References 7 publications

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“…The RORAG model is established by the real-time simulation system according to equations (5)- (7), and (10). When A k1 = 10.5, A k2 = 2.5, A k3 = 36, and A k4 = 44, the time histories of the knee joint reference angle (θ k_R ) generated by the RORAG model and the actual subject's knee joint's swing angle (θ k_a ) is shown in Figure 8, and the time history of the angle error between them is shown in Figure 9.…”

Section: B Experimental Results and Analysis 1) Curve Shapementioning

confidence: 99%

“…control to control the smart prosthetic knee. For example, Wang et al [6] and Akdogan et al [7] proposed the computed torque and PD control for the smart prosthetic knee. Popovic and Kalanovic [8] applied Lyapunov direct method to the trajectory tracking control for the smart prosthetic knee.…”

Section: Introductionmentioning

confidence: 99%

“…Based on this empirical data set, the Rayleigh oscillators generate the stable curves. Then, based on the stable curves generated by the Rayleigh oscillators, the amplitude of the curve is adjusted according to equation (7). This method avoids multiple control parameters to be adjusted at the same time.…”

Section: Introductionmentioning

confidence: 99%

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Design and Development of a Rayleigh Oscillator-Based Reference Angle Generator for Motion Control of Smart Prosthetic Knees

2020

IEEE Access

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In order to synchronize the motions of the above-knee amputee's limbs and smart prosthetic knee in practical applications, the principle of a Rayleigh oscillator-based reference angle generator (RORAG) for the motion control of smart prosthetic knees is proposed. The central pattern generator (CPG) model of the lower limb in this paper uses a pair of phase-coupling Rayleigh oscillators to imitate the human's lower limb's biological CPG, where the used Rayleigh oscillators are improved to exactly represent the motion characteristics of the lower limb. A frequency control method for the CPG model is proposed to synchronize the thigh reference angle, which is generated by the lower limb's CPG model, with the swing angle of the above-knee amputee's residual thigh. The RORAG model is developed by using the real-time simulation system. An experimental system is developed to verify the performance of the RORAG model in two terms of the curve shape and motion synchronization. Further, in order to estimate the application value of the proposed RORAG model in two terms of the real-time and accuracy, a bio-guided motion platform system is developed and fabricated. On this motion platform system, the RORAG model is used to control a prosthetic knee prototype. The experimental results show that the developed RORAG model can imitate the subject's knee joint's swing angle accurately in real time. Therefore, the proposed RORAG is effective in practical applications. INDEX TERMS Motion characteristics, reference angle generator, prosthetic knees, Rayleigh oscillator.

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Section: B Experimental Results and Analysis 1) Curve Shapementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Design and Development of a Rayleigh Oscillator-Based Reference Angle Generator for Motion Control of Smart Prosthetic Knees

2020

IEEE Access

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“…Yapılan çalışmaları en genel anlamda yürüyüşün matematiksel modeli üzerinden klasik denetim yöntemlerine ve de yürüyüşün çeşitli parametrelerine bakarak, analitik olmayan nümerik tabanlı denetim yordamlarının geliştirilmesi olarak özetleyebiliriz. Yürüyüşün matematiksel modelinin çıkarılması aşamasında Euler-Lagrange eşitlikleri kullanılarak hareketin doğrusal olmayan yapısı matematiksel yürüyüş modelleri içinde incelenebilmiştir [1]. Üretilen bu modeller ile Oransal Türevleyici (PD), Hesaplanmış Dönü Momenti (Computed Torque) veya her iki denetleyicinin de kullanıldığı çeşitli denetim yordamları geliştirilmiştir [2], [3].…”

Section: Introductionunclassified

Finite State Control of semi active knee joint with pneumatic damper

Orhanli

Yılmaz

2014

2014 18th National Biomedical Engineering Meeting

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ÖzetçeBu çalışma Sonlu Durum Denetimi'nin uygulandığı pnömatik silindirli yarı etkin diz protezinin sonuçlarını paylaşmaktadır. Bu amaç doğrultusunda farklı denekler ile farklı hızlarda gerçekleştirilen protezli yürüyüşlerin morfolojik olarak normal yürüyüşe göre olan benzerlikleri incelenmiştir. Pnömatik silindirli protezin sonlu durum denetimi duyarga tabanlı hareket inceleme sisteminden elde edilen yürüyüş evre bilgisi üzerinden sağlanmıştır. Yürüyüşün hız ve evre bilgisi, jiroskop duyargası verisi ve türevi üzerinden koşturulan bir normalizasyon algoritması ile bulunmaktadır. Duruş ve salınım kontrollü yürüyüş senaryosu üç evreli ve beş evreli kontrole göre daha iyi sonuçlar vermiştir. Protezli yürüyüşlerin başarımlarını incelemek için bir çevrim içerisinde türetilen diz açısı verileri ortalama mutlak hata cinsinden dikkate alınmış ve protezli yürüyüşler normal yürüyüşlerle karşılaştırılmıştır. Başarım testleri görüntü ve duyarga tabanlı hareket inceleme sistemleri yardımıyla gerçekleştirilmiştir. AbstractThis study presents the semi active knee prosthesis with pneumatic cylinder performing under Finite State Control. For this purpose, the similarities between walks with the prosthesis and the normal gaits were examined morphologically. The finite state control of the prosthesis with pneumatic cylinder was developed under the basis of number of phases on the gait provided by direct measurement system. Associated gait phases and walking speeds were obtained from gyroscope signal and its derivatives, in a normalization algorithm. Stance and swing phase controlled prosthesis walking is the best control scenario for semi active-knee prosthesis with pneumatic cylinder than three phase and five phase control. In order to examine the performance of the prosthesis, the knee angle in degree has been considered as a comparison criterion. Associated performance tests were conducted both with image based motion measurement system and direct type motion measurement system.

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Simulations of knee angle control in dynamical Gait model for above knee prosthesis

Cited by 2 publications

References 7 publications

Design and Development of a Rayleigh Oscillator-Based Reference Angle Generator for Motion Control of Smart Prosthetic Knees

Design and Development of a Rayleigh Oscillator-Based Reference Angle Generator for Motion Control of Smart Prosthetic Knees

Finite State Control of semi active knee joint with pneumatic damper

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