Switched robust tracking/impedance control for an active transfemoral prosthesis

Holly Warner; Daniel Simon; Hadis Mohammadi; Hanz Richter

doi:10.1109/ACC.2016.7525242

Switched robust tracking/impedance control for an active transfemoral prosthesis

Holly Warner
, Daniel Simon
, Hadis Mohammadi
, Hanz Richter

Cleveland State University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

A novel control method for an active transfemoral prosthesis is developed based on the combination of two previously published controllers, robust tracking/impedance control and switched impedance control. This controller is simulated and optimized to provide desired gait features and energy regeneration. Specifically, an evolutionary optimization algorithm termed biogeography-based optimization is used. Across all optimization trials a tracking error on the order of 10-2 rad rms or less results for both the knee and ankle joints. This is accompanied by ground reaction forces approximating able-bodied gait data and an energy regeneration capacity of about 9.6 J per stride.

Original language	English
Title of host publication	Proceedings of the American Control Conference
Place of Publication	usa
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2187-2192
Number of pages	6
Volume	2016-July
ISBN (Electronic)	9781467386821
DOIs	https://doi.org/10.1109/ACC.2016.7525242
State	Published - Jul 28 2016
Event	2016 American Control Conference, ACC 2016 - Boston, United States Duration: Jul 6 2016 → Jul 8 2016

Conference

Conference	2016 American Control Conference, ACC 2016
Country/Territory	United States
City	Boston
Period	07/6/16 → 07/8/16

Access to Document

10.1109/ACC.2016.7525242

Cite this

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title = "Switched robust tracking/impedance control for an active transfemoral prosthesis",

abstract = "A novel control method for an active transfemoral prosthesis is developed based on the combination of two previously published controllers, robust tracking/impedance control and switched impedance control. This controller is simulated and optimized to provide desired gait features and energy regeneration. Specifically, an evolutionary optimization algorithm termed biogeography-based optimization is used. Across all optimization trials a tracking error on the order of 10-2 rad rms or less results for both the knee and ankle joints. This is accompanied by ground reaction forces approximating able-bodied gait data and an energy regeneration capacity of about 9.6 J per stride.",

author = "Holly Warner and Daniel Simon and Hadis Mohammadi and Hanz Richter",

year = "2016",

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doi = "10.1109/ACC.2016.7525242",

language = "English",

volume = "2016-July",

pages = "2187--2192",

booktitle = "Proceedings of the American Control Conference",

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note = "2016 American Control Conference, ACC 2016 ; Conference date: 06-07-2016 Through 08-07-2016",

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Warner, H, Simon, D, Mohammadi, H & Richter, H 2016, Switched robust tracking/impedance control for an active transfemoral prosthesis. in Proceedings of the American Control Conference. vol. 2016-July, 7525242, Institute of Electrical and Electronics Engineers Inc., usa, pp. 2187-2192, 2016 American Control Conference, ACC 2016, Boston, United States, 07/6/16. https://doi.org/10.1109/ACC.2016.7525242

Switched robust tracking/impedance control for an active transfemoral prosthesis. / Warner, Holly; Simon, Daniel; Mohammadi, Hadis et al.
Proceedings of the American Control Conference. Vol. 2016-July usa: Institute of Electrical and Electronics Engineers Inc., 2016. p. 2187-2192 7525242.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Richter, Hanz

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Y1 - 2016/7/28

N2 - A novel control method for an active transfemoral prosthesis is developed based on the combination of two previously published controllers, robust tracking/impedance control and switched impedance control. This controller is simulated and optimized to provide desired gait features and energy regeneration. Specifically, an evolutionary optimization algorithm termed biogeography-based optimization is used. Across all optimization trials a tracking error on the order of 10-2 rad rms or less results for both the knee and ankle joints. This is accompanied by ground reaction forces approximating able-bodied gait data and an energy regeneration capacity of about 9.6 J per stride.

AB - A novel control method for an active transfemoral prosthesis is developed based on the combination of two previously published controllers, robust tracking/impedance control and switched impedance control. This controller is simulated and optimized to provide desired gait features and energy regeneration. Specifically, an evolutionary optimization algorithm termed biogeography-based optimization is used. Across all optimization trials a tracking error on the order of 10-2 rad rms or less results for both the knee and ankle joints. This is accompanied by ground reaction forces approximating able-bodied gait data and an energy regeneration capacity of about 9.6 J per stride.

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Switched robust tracking/impedance control for an active transfemoral prosthesis

Abstract

Conference

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