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A novel stable robust adaptive impedance control scheme for ankle prostheses

Heidarzadeh, S ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1109/ICRoM.2017.8466160
  3. Abstract:
  4. A stable robust adaptive impedance control strategy is introduced here as a model-based low-level control scheme for active ankle prostheses. The effects of amputee-prosthesis and prosthesis-environment interactions are included in the controller design. An interesting feature of the proposed controller is that only shank and ankle angles and angular velocities, and ground reaction forces are required to implement the control law. In other words, no feedback from amputee-prosthesis interaction forces and moment, global or local positions, and accelerations of amputated place is required. Using a Lyapunov analysis, exponential convergence characteristics of the proposed controller are proven. The results of a simulation study are included at the end of paper to show the effectiveness of the proposed control law. © 2017 IEEE
  5. Keywords:
  6. Impedance control ; Artificial limbs ; Biophysics ; Human robot interaction ; Robotics ; Robust control ; Active prosthesis ; Adaptive control ; Exponential convergence ; Ground reaction forces ; Impedance control strategy ; Interaction forces ; Simulation studies ; Controllers
  7. Source: 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017, 25 October 2017 through 27 October 2017 ; 2018 , Pages 63-68 ; 9781538657034 (ISBN)
  8. URL: https://ieeexplore.ieee.org/document/8466160