A Phase Variable Approach for Improved Rhythmic and Non-Rhythmic Control of a Powered Knee-Ankle Prosthesis.

摘要: Although there has been recent progress in control of multi-joint prosthetic legs for rhythmic tasks such as walking, these systems non-rhythmic motions and general real-world maneuvers is still an open problem. In this article, we develop a new controller that capable both (constant-speed) transitions between speeds and/or tasks, some common volitional leg motions. We introduce piecewise holonomic phase variable, which, through finite state machine, forms the basis our controller. The variable constructed by measuring thigh angle, machine are formulated sensing foot contact along with attributes nominal reference gait trajectory. was implemented on powered knee-ankle prosthesis tested transfemoral amputee subject, who successfully performed wide range including slow fast quick start stop, backward walking over obstacles, kicking soccer ball. Use resulted clinically significant reductions compensations (including vaulting hip circumduction) when compared to use take-home passive leg. addition, considerable improvements were also observed performance tasks. proposed approach expected provide better understanding unified framework, which turn can lead more reliable prostheses wider