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A novel robust model reference adaptive impedance control scheme for an active transtibial prosthesis

Heidarzadeh, S ; Sharif University of Technology | 2019

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  1. Type of Document: Article
  2. DOI: 10.1017/S0263574719000146
  3. Publisher: Cambridge University Press , 2019
  4. Abstract:
  5. In this paper, a novel robust model reference adaptive impedance control (RMRAIC) scheme is presented for an active transtibial ankle prosthesis. The controller makes the closed loop dynamics of the prosthesis similar to a reference impedance model and provides asymptotic tracking of the response trajectory of this impedance model. The interactions between human and prosthesis are taken into account by designing a second-order reference impedance model. The proposed controller is robust against parametric uncertainties in the nonlinear dynamic model of the prosthesis. Also, the controller has robustness against bounded uncertainties due to unavailable ground reaction forces and unmeasurable feedbacks of accelerations at the socket place. Moreover, an appropriate Series Elastic Actuator (SEA) mechanism for the prosthetic ankle is included in this work and its effects are discussed. Tracking performance and stability of the closed-loop system are proven via the Lyapunov stability analysis. Using simulations on an overall amputee prosthetic foot system, the effectiveness of the proposed RMRAIC controller is investigated for the task of level ground walking. © 2019 Cambridge University Press
  6. Keywords:
  7. Ankle prosthesis ; Impedance control ; Model reference adaptive control ; Physical human-robot interaction ; Biophysics ; Closed loop systems ; Controllers ; Human robot interaction ; Prosthetics ; Robust control ; Ground reaction forces ; Lyapunov stability analysis ; Parametric uncertainties ; Physical human-robot interactions ; Robust model reference ; Series elastic actuators ; Trans-tibial prosthesis
  8. Source: Robotica ; Volume 37, Issue 9 , 2019 , Pages 1562-1581 ; 02635747 (ISSN)
  9. URL: https://www.cambridge.org/core/journals/robotica/article/novel-robust-model-reference-adaptive-impedance-control-scheme-for-an-active-transtibial-prosthesis/313934B32B3890D44444E710E4F22954