Abstract
Individuals with an above-knee (AK) amputation typically use passive prostheses, whether reactive (microprocessor) or purely mechanical. Though sufficient for walking, these solutions lack the positive power generation observed in able-bodied individuals. Active (powered) prostheses can provide positive power but suffer complex control and limited energy storage capacities. These shortcomings motivate the development of an active prosthesis implementing a novel impedance controller design with energy regeneration. The controller requires only five tuning parameters that are intuitive to adjust in contrast to the current standard—finite state machine impedance scheduling of up to 45 gains. This simplification is uniquely achieved by modulating knee joint impedance by axial shank force. Furthermore, the proposed control approach introduces analytical guidance for impedance tuning to purposely integrate energy regeneration; specifically, a precise amount of negative damping is injected into the joint. A pilot study conducted with a volunteer with an AK amputation walking at three distinct speeds and at continually self-selected varying speeds demonstrated the adaptability of the controller to changes in speed. Self-powered operation was attained for all trials despite low mechanical component efficiencies. These early results suggest the efficacy of simplifying impedance control tuning and fusing control and energy regeneration in transfemoral prostheses.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
