A comparison of control strategies in commercial and research knee prostheses
Goal: To provide an overview of control strategies in commercial and research
microprocessor-controlled prosthetic knees (MPKs). Methods: Five commercially available …
microprocessor-controlled prosthetic knees (MPKs). Methods: Five commercially available …
Review of recent progress in robotic knee prosthesis related techniques: Structure, actuation and control
As the essential technology of human-robotics interactive wearable devices, the robotic
knee prosthesis can provide above-knee amputations with functional knee compensations …
knee prosthesis can provide above-knee amputations with functional knee compensations …
Human–robot interaction control of rehabilitation robots with series elastic actuators
Rehabilitation robots, by necessity, have direct physical interaction with humans. Physical
interaction affects the controlled variables and may even cause system instability. Thus …
interaction affects the controlled variables and may even cause system instability. Thus …
A robotic leg prosthesis: Design, control, and implementation
BE Lawson, J Mitchell, D Truex, A Shultz… - IEEE Robotics & …, 2014 - ieeexplore.ieee.org
This article describes the design and control of a powered knee and ankle prosthesis for
transfemoral amputees. Following a description of the design hardware, a hybrid control …
transfemoral amputees. Following a description of the design hardware, a hybrid control …
Estimation of human ankle impedance during the stance phase of walking
Human joint impedance is the dynamic relationship between the differential change in the
position of a perturbed joint and the corresponding response torque; it is a fundamental …
position of a perturbed joint and the corresponding response torque; it is a fundamental …
A powered hip exoskeleton with high torque density for walking, running, and stair ascent
MK Ishmael, D Archangeli… - IEEE/ASME Transactions …, 2022 - ieeexplore.ieee.org
Powered exoskeletons need actuators that can generate substantial assistive torque and
orthoses that can efficiently transfer the assistive torque to the user. Powered exoskeletons …
orthoses that can efficiently transfer the assistive torque to the user. Powered exoskeletons …
Quasi-distributed torque and displacement sensing on a series elastic actuator's spring using FBG arrays inscribed in CYTOP fibers
We report the application of fiber Bragg grating (FBG) arrays in polymer optical fibers for the
quasi-distributed displacement and torque sensing in a series elastic actuator's spring. The …
quasi-distributed displacement and torque sensing in a series elastic actuator's spring. The …
Whole body control of an autonomous mobile manipulator using series elastic actuators
The flexible joint robot has superior attractive features because of its high mobility, high load
ratiohigh torque fidelity, robustness for external disturbance, task adaptability, and safety. In …
ratiohigh torque fidelity, robustness for external disturbance, task adaptability, and safety. In …
Design of parallel variable stiffness actuators
CW Mathews, DJ Braun - IEEE Transactions on Robotics, 2022 - ieeexplore.ieee.org
Direct-drive motors (DDMs) have been increasingly used for robot actuation because they
provide high-fidelity torque control, but they typically have low torque density. Gearing can …
provide high-fidelity torque control, but they typically have low torque density. Gearing can …
Machine learning model comparisons of user independent & dependent intent recognition systems for powered prostheses
Developing intelligent prosthetic controllers to recognize user intent across users is a
challenge. Machine learning algorithms present an opportunity to develop methods for …
challenge. Machine learning algorithms present an opportunity to develop methods for …