Experimental effective shape control of a powered transfemoral prosthesis

Robert D. Gregg, Tommaso Lenzi, Nicholas P. Fey, Levi J. Hargrove, Jonathon W. Sensinger

Research output: Chapter in Book/Report/Conference proceedingConference contribution

22 Citations (Scopus)

Abstract

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.

Original languageEnglish (US)
Title of host publication2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013
DOIs
StatePublished - Dec 31 2013
Event2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013 - Seattle, WA, United States
Duration: Jun 24 2013Jun 26 2013

Other

Other2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013
CountryUnited States
CitySeattle, WA
Period6/24/136/26/13

Fingerprint

Prosthetics
Prostheses and Implants
Leg
Exercise equipment
Stairs
Feedback control
Kinematics
Joints
Prosthesis Design
Body Weights and Measures
Geometry
Heel
Gait
Biomechanical Phenomena
Walking
Foot
Research Design
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Rehabilitation
  • Medicine(all)

Cite this

Gregg, R. D., Lenzi, T., Fey, N. P., Hargrove, L. J., & Sensinger, J. W. (2013). Experimental effective shape control of a powered transfemoral prosthesis. In 2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013 [6650413] https://doi.org/10.1109/ICORR.2013.6650413

Experimental effective shape control of a powered transfemoral prosthesis. / Gregg, Robert D.; Lenzi, Tommaso; Fey, Nicholas P.; Hargrove, Levi J.; Sensinger, Jonathon W.

2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013. 2013. 6650413.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Gregg, RD, Lenzi, T, Fey, NP, Hargrove, LJ & Sensinger, JW 2013, Experimental effective shape control of a powered transfemoral prosthesis. in 2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013., 6650413, 2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013, Seattle, WA, United States, 6/24/13. https://doi.org/10.1109/ICORR.2013.6650413
Gregg RD, Lenzi T, Fey NP, Hargrove LJ, Sensinger JW. Experimental effective shape control of a powered transfemoral prosthesis. In 2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013. 2013. 6650413 https://doi.org/10.1109/ICORR.2013.6650413
Gregg, Robert D. ; Lenzi, Tommaso ; Fey, Nicholas P. ; Hargrove, Levi J. ; Sensinger, Jonathon W. / Experimental effective shape control of a powered transfemoral prosthesis. 2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013. 2013.
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