TY - JOUR
T1 - Switched Robust Tracking/Impedance Control for an ActiveTransfemoral Prosthesis
AU - Warner, Holly
AU - Simon, Daniel J.
AU - Mohammadi, Hadis
AU - Richter, Hanz
N1 - H. Warner, D. Simon, H. Mohammadi and H. Richter, "Switched robust tracking/impedance control for an active transfemoral prosthesis," in 2016 American Control Conference (ACC), 2016, pp. 2187-2192.
PY - 2016/7/1
Y1 - 2016/7/1
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.
UR - https://engagedscholarship.csuohio.edu/enece_facpub/379
UR - http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7525242sortType=desc_p_Publication_YearsearchWithin=%22First%20Name%22:dansearchWithin=%22Last%20Name%22:simon
U2 - 10.1109/ACC.2016.7525242
DO - 10.1109/ACC.2016.7525242
M3 - Article
JO - 2016 American Control Conference (ACC)
JF - 2016 American Control Conference (ACC)
ER -