• DocumentCode
    2771953
  • Title

    Control method for powered ankle prosthesis via internal model control design

  • Author

    Suzuki, Ryoichi ; Sawada, Takayuki ; Kobayashi, Nobuaki ; Hofer, Eberhard P.

  • Author_Institution
    Dept. of Robot., Kanazawa Inst. of Technol., Ishikawa, Japan
  • fYear
    2011
  • fDate
    7-10 Aug. 2011
  • Firstpage
    237
  • Lastpage
    242
  • Abstract
    This paper proposes a control method of active ankle-foot prostheses. The main goal of this research is to determine the feasibility of generating adequate plantar flexion force by using the internal model control design. The prototype of the powered ankle prosthesis is developed to evaluate proposed controllers. The paper shows that the prototype is able to provide a more natural gait than a conventional passive prosthesis.
  • Keywords
    biomechanics; prosthetics; active ankle-foot prosthesis; biomechanics; control method; internal model control design; plantar flexion force; powered ankle prosthesis; Foot; Force; Joints; Prosthetics; Prototypes; Torque; Trajectory; Biomechanics; Internal model control (IMC); Powered ankle prosthesis;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Mechatronics and Automation (ICMA), 2011 International Conference on
  • Conference_Location
    Beijing
  • ISSN
    2152-7431
  • Print_ISBN
    978-1-4244-8113-2
  • Type

    conf

  • DOI
    10.1109/ICMA.2011.5985663
  • Filename
    5985663
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2771953