TY - GEN
T1 - Experimental effective shape control of a powered transfemoral prosthesis
AU - Gregg, Robert D.
AU - Lenzi, Tommaso
AU - Fey, Nicholas P.
AU - Hargrove, Levi J.
AU - Sensinger, Jonathon W.
PY - 2013/12/31
Y1 - 2013/12/31
N2 - This paper presents the design and experimental implementation of a novel feedback control strategy that regulates effective shape on a powered transfemoral prosthesis. The human effective shape is the effective geometry to which the biological leg conforms - through movement of ground reaction forces and leg joints - during the stance period of gait. Able-bodied humans regulate effective shapes to be invariant across conditions such as heel height, walking speed, and body weight, so this measure has proven to be a very useful tool for the alignment and design of passive prostheses. However, leg joints must be actively controlled to assume different effective shapes that are unique to tasks such as standing, walking, and stair climbing. Using our previous simulation studies as a starting point, we model and control the effective shape as a virtual kinematic constraint on the powered Vanderbilt prosthetic leg with a custom instrumented foot. An able-bodied subject used a by-pass adapter to walk on the controlled leg over ground and over a treadmill. These preliminary experiments demonstrate, for the first time, that effective shape (or virtual constraints in general) can be used to control a powered prosthetic leg.
AB - This paper presents the design and experimental implementation of a novel feedback control strategy that regulates effective shape on a powered transfemoral prosthesis. The human effective shape is the effective geometry to which the biological leg conforms - through movement of ground reaction forces and leg joints - during the stance period of gait. Able-bodied humans regulate effective shapes to be invariant across conditions such as heel height, walking speed, and body weight, so this measure has proven to be a very useful tool for the alignment and design of passive prostheses. However, leg joints must be actively controlled to assume different effective shapes that are unique to tasks such as standing, walking, and stair climbing. Using our previous simulation studies as a starting point, we model and control the effective shape as a virtual kinematic constraint on the powered Vanderbilt prosthetic leg with a custom instrumented foot. An able-bodied subject used a by-pass adapter to walk on the controlled leg over ground and over a treadmill. These preliminary experiments demonstrate, for the first time, that effective shape (or virtual constraints in general) can be used to control a powered prosthetic leg.
UR - http://www.scopus.com/inward/record.url?scp=84891118018&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84891118018&partnerID=8YFLogxK
U2 - 10.1109/ICORR.2013.6650413
DO - 10.1109/ICORR.2013.6650413
M3 - Conference contribution
C2 - 24187232
AN - SCOPUS:84891118018
SN - 9781467360241
T3 - IEEE International Conference on Rehabilitation Robotics
BT - 2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013
T2 - 2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013
Y2 - 24 June 2013 through 26 June 2013
ER -