A Clinical Tuning Framework for Continuous Kinematic and Impedance Control of a Powered Knee-Ankle Prosthesis

Autor: Reznick, Emma, Best, T. Kevin, Gregg, Robert

Objective: Configuring a prosthetic leg is an integral part of the fitting process, but the personalization of a multi-modal powered knee-ankle prosthesis is often too complex to realize in a clinical environment. This paper develops both the technic

Externí odkaz: http://arxiv.org/abs/2412.10154

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Data-Driven Phase-Based Control of a Powered Knee-Ankle Prosthesis for Variable-Incline Stair Ascent and Descent.

Autor: Cortino RJ; Department of Robotics, University of Michigan, Ann Arbor, MI 48109., Best TK; Department of Robotics, University of Michigan, Ann Arbor, MI 48109., Gregg RD; Department of Robotics, University of Michigan, Ann Arbor, MI 48109.

Publikováno v: IEEE transactions on medical robotics and bionics [IEEE Trans Med Robot Bionics] 2024 Feb; Vol. 6 (1), pp. 175-188. Date of Electronic Publication: 2023 Oct 31.

Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning.

Autor: Welker CG; Department of Electrical Engineering and Computer Science and the Robotics Institute, University of Michigan, Ann Arbor, MI 48109., Best TK; Department of Electrical Engineering and Computer Science and the Robotics Institute, University of Michigan, Ann Arbor, MI 48109., Gregg RD; Department of Electrical Engineering and Computer Science and the Robotics Institute, University of Michigan, Ann Arbor, MI 48109.

Publikováno v: Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems [Rep U S] 2022 Oct; Vol. 2022, pp. 9660-9667. Date of Electronic Publication: 2022 Dec 26.

Phase-Variable Control of a Powered Knee-Ankle Prosthesis over Continuously Varying Speeds and Inclines.

Autor: Best TK; Department of Electrical Engineering and Computer Science and the Robotics Institute, University of Michigan, Ann Arbor, MI 48109., Embry KR; Max Nader Lab for Rehabilitation Technologies and Outcomes Research, Shirley Ryan AbilityLab, and the Department of Physical Medicine and Rehabilitation, Northwestern University, Chicago, IL 60611., Rouse EJ; Department of Mechanical Engineering and the Robotics Institute, University of Michigan, Ann Arbor, MI 48109., Gregg RD; Department of Electrical Engineering and Computer Science and the Robotics Institute, University of Michigan, Ann Arbor, MI 48109.

Publikováno v: Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems [Rep U S] 2021 Sep-Oct; Vol. 2021, pp. 6182-6189. Date of Electronic Publication: 2021 Dec 16.