Title :
A walking controller for a powered ankle prosthesis
Author :
Shultz, Amanda H. ; Mitchell, Jason E. ; Truex, Don ; Lawson, Brian E. ; Ledoux, Elissa ; Goldfarb, Michael
Author_Institution :
Dept. of Mech. Eng., Vander-bilt Univ., Nashville, TN, USA
Abstract :
This paper describes a walking controller implemented on a powered ankle prosthesis prototype and assessed by a below-knee amputee subject on a treadmill at three speeds. The walking controller is a finite state machine which emulates a series of passive impedance functions at the joint in order to reproduce the behavior of a healthy joint. The assessments performed demonstrate the ability of the powered prosthesis prototype and walking controller to reproduce essential biomechanical aspects (i.e. joint angle, torque, and power profiles) of the healthy joint, especially relative to a passive prosthesis.
Keywords :
finite state machines; gait analysis; prosthetics; below knee amputee; biomechanical aspects; finite state machine; healthy joint behavior; joint angle; joint power profile; joint torque; passive impedance functions; powered ankle prosthesis; treadmill; walking controller; Angular velocity; Joints; Legged locomotion; Prosthetics; Prototypes; Springs; Torque;
Conference_Titel :
Engineering in Medicine and Biology Society (EMBC), 2014 36th Annual International Conference of the IEEE
Conference_Location :
Chicago, IL
DOI :
10.1109/EMBC.2014.6945046