OUTPUT SPACE TRACKING CONTROL FOR ABOVE-KNEE PROSTHESIS

被引:22
|
作者
POPOVIC, DB
KALANOVIC, VD
机构
[1] UNIV ALBERTA, DIV NEUROSCI, EDMONTON T6G 2E1, ALBERTA, CANADA
[2] UNIV BELGRADE, FAC ELECT ENGN, BELGRADE, YUGOSLAVIA
[3] S DAKOTA SCH MINES & TECHNOL, DEPT MECH ENGN, RAPID CITY, SD 57701 USA
关键词
D O I
10.1109/10.237674
中图分类号
R318 [生物医学工程];
学科分类号
0831 ;
摘要
The control of a knee joint in an active above-knee prosthesis has been designed using the Lyapunov tracking method. A simulation of locomotion was done to prove that the tracking control in output space is a valuable real time control method for artificial legs. The data used for simulation was collected in able-bodied subjects while they walked on a powered treadmill. Human volunteers were braced with an ankle splint (limiting dorsi- and plantar flexion) and with a knee cage (limiting knee movements to the lateral plane). We studied the achieved tracking of the prescribed knee motion, deviations of the thigh movement from the prescribed trajectory, maximal angular deviations from the desired trajectory and the power consumption as functions of a limited maximal knee torque and a damping constant in the knee actuator. We found that the use of output tracking method is suitable for the design of appropriate hardware of an above-knee prosthesis and for real-time control.
引用
收藏
页码:549 / 557
页数:9
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