Virtual Constraint Control of a Powered Prosthetic Leg: From Simulation to Experiments with Transfemoral Amputees

Details

• Personal Author:
  Gregg RD ; Hargrove LJ ; Lenzi T ; Sensinger JW ; Gregg RD ; Hargrove LJ ; Lenzi T ; Sensinger JW
• Description:
  Recent powered (or robotic) prosthetic legs independently control different joints and time periods of the gait cycle, resulting in control parameters and switching rules that can be difficult to tune by clinicians. This challenge might be addressed by a unifying control model used by recent bipedal robots, in which virtual constraints define joint patterns as functions of a monotonic variable that continuously represents the gait cycle phase. In the first application of virtual constraints to amputee locomotion, this paper derives exact and approximate control laws for a partial feedback linearization to enforce virtual constraints on a prosthetic leg. We then encode a human-inspired invariance property called effective shape into virtual constraints for the stance period. After simulating the robustness of the partial feedback linearization to clinically meaningful conditions, we experimentally implement this control strategy on a powered transfemoral leg. We report the results of three amputee subjects walking overground and at variable cadences on a treadmill, demonstrating the clinical viability of this novel control approach. [Description provided by NIOSH]
• Subjects:
  Biomechanical Phenomena Health Care Facilities Workforce And Services Occupational Health Safety
• Keywords:
  Author Keywords: Legged Locomotion Biomechanical Modeling Biomedical Engineering Medical Equipment Prosthetic Devices Prosthetics Rehabilitation Robotics Robot Control Robotics Virtual Constraints
• ISSN:
  1552-3098
• Document Type:
  Text
• Funding:
  Grant
• Genre:
  Journal Article ; Journal Article
• Place as Subject:
  Illinois ; OSHA Region 5 ; OSHA Region 6 ; OSHA Region 8 ; Texas ; Utah
• CIO:
  National Institute for Occupational Safety and Health (NIOSH) ; National Institute for Occupational Safety and Health (NIOSH)
• Topic:
  Workplace Safety & Health ; Workplace Safety & Health
• Location:
  North America ; North America
• Volume:
  30
• Issue:
  6
• NIOSHTIC Number:
  nn:20067373
• Citation:
  IEEE Trans Robot 2014 Dec; 30(6):1455-1471
• Contact Point Address:
  R. D. Gregg, Departments of Bioengineering and Mechanical Engineering, University of Texas at Dallas, Richardson, TX 75080 USA
• Email:
  rgregg@ieee.org
• Federal Fiscal Year:
  2015
• Performing Organization:
  University of Utah
• Peer Reviewed:
  True
• Start Date:
  20050701
• Source Full Name:
  IEEE Transactions on Robotics
• End Date:
  20280630
• Collection(s):
  National Institute for Occupational Safety and Health
• Main Document Checksum:
  urn:sha-512:c5b06760a74ea1095fce259c2de66b008450fdf73ea33fc0b2b73d4f5410d0a2ae0108e2c7f2388a8116eaa9675b7339bd71d335e8613ef3a3b38ca5c5b45a8d
• Download URL:
  https://stacks.cdc.gov/view/cdc/231433/cdc_231433_DS1.pdf
• File Type:
  [PDF - 1.45 MB ]