Control of a Powered Ankle–Foot Prosthesis Based on a Neuromuscular Model
Control schemes for powered ankle-foot prostheses rely upon fixed torque-ankle state relationships obtained from measurements of intact humans walking at target speeds and across known terrains. Although effective at their intended gait speed and terrain, these controllers do not allow for adaptatio...
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| Format: | Članak |
| Jezik: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2012
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| Online pristup: | http://hdl.handle.net/1721.1/68999 https://orcid.org/0000-0001-8768-7068 https://orcid.org/0000-0003-3169-1011 |
| _version_ | 1826211893781463040 |
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| author | Geyer, Hartmut Eilenberg, Michael Frederick Herr, Hugh M |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Geyer, Hartmut Eilenberg, Michael Frederick Herr, Hugh M |
| author_sort | Geyer, Hartmut |
| collection | MIT |
| description | Control schemes for powered ankle-foot prostheses rely upon fixed torque-ankle state relationships obtained from measurements of intact humans walking at target speeds and across known terrains. Although effective at their intended gait speed and terrain, these controllers do not allow for adaptation to environmental disturbances such as speed transients and terrain variation. Here we present an adaptive muscle-reflex controller, based on simulation studies, that utilizes an ankle plantar flexor comprising a Hill-type muscle with a positive force feedback reflex. The model's parameters were fitted to match the human ankle's torque-angle profile as obtained from level-ground walking measurements of a weight and height-matched intact subject walking at 1 m/s. Using this single parameter set, clinical trials were conducted with a transtibial amputee walking on level ground, ramp ascent, and ramp descent conditions. During these trials, an adaptation of prosthetic ankle work was observed in response to ground slope variation, in a manner comparable to intact subjects, without the difficulties of explicit terrain sensing. Specifically, the energy provided by the prosthesis was directly correlated to the ground slope angle. This study highlights the importance of neuromuscular controllers for enhancing the adaptiveness of powered prosthetic devices across varied terrain surfaces. |
| first_indexed | 2024-09-23T15:13:06Z |
| format | Article |
| id | mit-1721.1/68999 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T15:13:06Z |
| publishDate | 2012 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/689992022-09-29T13:26:01Z Control of a Powered Ankle–Foot Prosthesis Based on a Neuromuscular Model Geyer, Hartmut Eilenberg, Michael Frederick Herr, Hugh M Massachusetts Institute of Technology. Department of Mechanical Engineering Program in Media Arts and Sciences (Massachusetts Institute of Technology) Herr, Hugh M. Eilenberg, Michael Frederick Herr, Hugh M. Control schemes for powered ankle-foot prostheses rely upon fixed torque-ankle state relationships obtained from measurements of intact humans walking at target speeds and across known terrains. Although effective at their intended gait speed and terrain, these controllers do not allow for adaptation to environmental disturbances such as speed transients and terrain variation. Here we present an adaptive muscle-reflex controller, based on simulation studies, that utilizes an ankle plantar flexor comprising a Hill-type muscle with a positive force feedback reflex. The model's parameters were fitted to match the human ankle's torque-angle profile as obtained from level-ground walking measurements of a weight and height-matched intact subject walking at 1 m/s. Using this single parameter set, clinical trials were conducted with a transtibial amputee walking on level ground, ramp ascent, and ramp descent conditions. During these trials, an adaptation of prosthetic ankle work was observed in response to ground slope variation, in a manner comparable to intact subjects, without the difficulties of explicit terrain sensing. Specifically, the energy provided by the prosthesis was directly correlated to the ground slope angle. This study highlights the importance of neuromuscular controllers for enhancing the adaptiveness of powered prosthetic devices across varied terrain surfaces. United States. Veterans Administration (Grant VA241-P-0026) Marie Curie International Fellowship (MOIF-CT-20052-022244) United States. Army. Telemedicine & Advanced Technology Research Center (Grant W81XWH-07-1-0343) 2012-02-01T20:21:43Z 2012-02-01T20:21:43Z 2010-04 2009-07 Article http://purl.org/eprint/type/JournalArticle 1534-4320 1558-0210 http://hdl.handle.net/1721.1/68999 Eilenberg, Michael F, Hartmut Geyer, and Hugh Herr. “Control of a Powered Ankle–Foot Prosthesis Based on a Neuromuscular Model.” IEEE Transactions on Neural Systems and Rehabilitation Engineering 18.2 (2010): 164-173. Web. 1 Feb. 2012. © 2010 Institute of Electrical and Electronics Engineers https://orcid.org/0000-0001-8768-7068 https://orcid.org/0000-0003-3169-1011 en_US http://dx.doi.org/10.1109/tnsre.2009.2039620 IEEE Transactions on Neural Systems and Rehabilitation Engineering Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers (IEEE) IEEE |
| spellingShingle | Geyer, Hartmut Eilenberg, Michael Frederick Herr, Hugh M Control of a Powered Ankle–Foot Prosthesis Based on a Neuromuscular Model |
| title | Control of a Powered Ankle–Foot Prosthesis Based on a Neuromuscular Model |
| title_full | Control of a Powered Ankle–Foot Prosthesis Based on a Neuromuscular Model |
| title_fullStr | Control of a Powered Ankle–Foot Prosthesis Based on a Neuromuscular Model |
| title_full_unstemmed | Control of a Powered Ankle–Foot Prosthesis Based on a Neuromuscular Model |
| title_short | Control of a Powered Ankle–Foot Prosthesis Based on a Neuromuscular Model |
| title_sort | control of a powered ankle foot prosthesis based on a neuromuscular model |
| url | http://hdl.handle.net/1721.1/68999 https://orcid.org/0000-0001-8768-7068 https://orcid.org/0000-0003-3169-1011 |
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