Control of a 2-DOF powered ankle-foot mechanism

Evandro M. Ficanha, Mohammad Rastgaar, Kenton R Kaufman

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

This paper describes a finite state machine to control an ankle-foot prosthesis with two degrees of freedom (DOF) in the sagittal and frontal planes. Strain gauges were installed in the foot to provide ground reaction torques feedback for impedance and admittance controllers to be used at heel-strike and push-off of the gait, respectively. The quasi-static stiffness of the ankle with the active control was measured showing a near linear relationship between the torque feedback gain and the stiffness of the ankle. The performance of the finite state machine and controllers were also evaluated using a custom-made circular treadmill and the results were compared to the results of the prosthesis using position controller and inactive controllers. The results showed that the impedance/admittance controller was capable of tracking the desired input trajectory while decreasing the required torque at the ankle joint.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6439-6444
Number of pages6
Volume2015-June
EditionJune
DOIs
StatePublished - Jun 29 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

Other

Other2015 IEEE International Conference on Robotics and Automation, ICRA 2015
CountryUnited States
CitySeattle
Period5/26/155/30/15

Fingerprint

Controllers
Torque
Finite automata
Stiffness
Feedback
Exercise equipment
Strain gages
Trajectories
Prostheses and Implants

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Ficanha, E. M., Rastgaar, M., & Kaufman, K. R. (2015). Control of a 2-DOF powered ankle-foot mechanism. In Proceedings - IEEE International Conference on Robotics and Automation (June ed., Vol. 2015-June, pp. 6439-6444). [7140103] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7140103

Control of a 2-DOF powered ankle-foot mechanism. / Ficanha, Evandro M.; Rastgaar, Mohammad; Kaufman, Kenton R.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2015-June June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 6439-6444 7140103.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ficanha, EM, Rastgaar, M & Kaufman, KR 2015, Control of a 2-DOF powered ankle-foot mechanism. in Proceedings - IEEE International Conference on Robotics and Automation. June edn, vol. 2015-June, 7140103, Institute of Electrical and Electronics Engineers Inc., pp. 6439-6444, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, United States, 5/26/15. https://doi.org/10.1109/ICRA.2015.7140103
Ficanha EM, Rastgaar M, Kaufman KR. Control of a 2-DOF powered ankle-foot mechanism. In Proceedings - IEEE International Conference on Robotics and Automation. June ed. Vol. 2015-June. Institute of Electrical and Electronics Engineers Inc. 2015. p. 6439-6444. 7140103 https://doi.org/10.1109/ICRA.2015.7140103
Ficanha, Evandro M. ; Rastgaar, Mohammad ; Kaufman, Kenton R. / Control of a 2-DOF powered ankle-foot mechanism. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2015-June June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 6439-6444
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