Download or read book Controller Design and Implementation for a Powered Prosthetic Knee written by Matthew David Rosa and published by . This book was released on 2012 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: Powered prosthetic knees offer many improvements over passive devices; however, the added actuation is difficult to control due to the lack of input from the user. A means of controlling a powered prosthetic knee is proposed by predicting the type of swing behavior the knee must perform based on the position of the foot relative to the person during toe-off. The software to accomplish this is implemented via a finite state machine which activates specific knee angle reference generators for each state. The reference generators serve as the input of a nonlinear feedback controller to ensure accurate positioning of the knee joint.

Download or read book Design Fabrication and Implementation of a Vibrotactile Feedback System for a Lower limb Powered Knee Prosthetic Device written by Conor Cullinane and published by . This book was released on 2013 with total page 102 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Design Modeling and Control of an Active Prosthetic Knee written by Roozbeh Borjian and published by . This book was released on 2008 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt: The few microcontroller based active/semi-active prosthetic knee joints available commercially are extremely expensive and do not consider the uncertainties of inputs sensory information. Progressing in the controller of the current prosthetic devices and creating artificial lower limbs compatible with different users may lead to more effective and low-cost prostheses. This can affect the life style of lots of amputees specially the land-mine victims in developing war-torn countries who are unable to partake in the advancement of the current intelligent prosthetic knees. The purpose of the proposed Active Prosthetic Knee (APK) design is to investigate a new schema that allows the device to provide the full necessary torque at the knee joint based on echoing the state of the intact leg. This study involves the design features of the mechanical aspects, sensing system, communication, and knowledge-based controller to implement a cost-effective APK. The proposed microcontroller based prosthesis utilizes a ball screw system accompanied by a high-speed brushed servomotor to provide one degree of freedom for the fabricated prototype. Moreover, a modular test-bed is manufactured to mimic the lower limb motion which contributes investigating different controllers for the prototype. Thus, the test bed allows assessing the primary performance of the APK before testing on a human subject.

Download or read book Powered Prostheses written by Houman Dallali and published by Academic Press. This book was released on 2020-04-17 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: Powered Prostheses: Design, Control, and Clinical Applications presents the state-of-the-art in design, control and application of assistive technologies used in rehabilitation, including powered prostheses used in lower and upper extremity amputees and orthosis used in the rehabilitation of various joint disorders. The progress made in this field over the last decade is so vast that any new researcher in this field will have to spend years digesting the main achievements and challenges that remain. This book provides a comprehensive vision of advances, along with the challenges that remain on the path to the development of true bionic technology. - Describes the latest assistive technologies that can help individuals deal with joint pain or limb loss - Presents a tangible and intuitive description of scientific achievements made - Highlights the existing technologies and devices that are available and used by amputees or patients with mobility limitations - Suggests solutions and new results that can further enhance assistive technologies

Download or read book Powered Transtibial Prosthetic Device Control System Design Implementation and Testing written by Jinming Sun and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: A powered lower limb prosthesis, which consists of a four bar mechanism, a torsional spring and a brushed DC motor, was previously designed and fabricated. To regulate the motor power input, a two level controller was proposed and built. The control algorithm includes a higher level finite state controller and lower level PID controllers. To implement the control system, a digital signal processor (DSP) control board and MATLAB Simulink were used to realize the higher level control and a DC motor controller was used to realize the lower level PID control. Sensors were selected to provide the required feedback. The entire control system was implemented on a convenient to carry backpack. Amputee subject testing was performed to obtain some experimental verification of the design. The results showed that the control system performed consistently with the designed control algorithm and did assist in the amputee{u2019}s walking. Compared to a currently available powered prosthesis, this control is simple in structure and able to mimic the nonlinear behavior of the ankle closely.

Download or read book Design and Control of Powered Lower Limb Prostheses written by Molei Wu and published by . This book was released on 2016 with total page 129 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the development of powered lower-limb prostheses, providing sufficient power and torque to support amputees' locomotion is a major challenge, considering prostheses' weight and size limits. Furthermore, regulating the power delivery during locomotion is equally important that gives amputees safe and natural movements. This dissertation aims to address these challenges by investigating new approaches in the actuation and control of powered lower-limb prostheses, with the overarching objective to obtain compact, powerful lower-limb prostheses that interact with amputees and the environment in a coordinated manner. The initial efforts were focused on the design and control of transfemoral (TF, also known as above-knee) prostheses powered by pneumatic muscles, an extraordinary actuator with superb power-to-weight ratio. The first prototype incorporates powered knee and ankle joints in a volumetric profile similar to that of human leg. The unique feature is a single-acting-spring-return mechanism, in which a single pneumatic muscle drives the motion in the torque-demanding direction, while a set of mechanical springs drives the motion in the opposite direction. A finite-state impedance controller has been developed for this prosthesis, which was demonstrated to provide a natural gait. Based on previous success, a novel type of pneumatic muscle, namely double-acting sleeve muscle (DASM), was examined to replace traditional pneumatic muscle. Incorporating a second chamber, the DASM is able to provide additional extensional force without using return springs. Therefore, the prosthesis can be significantly simplified into a more compact and lightweight device. Compared with pneumatic muscles, traditional cylinder-type actuators are more technologically mature. Therefore, the subsequent efforts were to develop a pneumatic cylinder-actuated TF prosthesis, which has great potential for real-world applications. All peripheral components were integrated, including a carbon fiber air tank as the energy source, and the prosthesis' capability of independent, untethered operation was demonstrated in human walking test. In addition to the improvement of prosthetic design, control methods were also investigated. The results include an integrated walking -- stair climbing controller and a sit-to-stand controller. Both were developed based on biomechanical analysis of the knee dynamics in human locomotion. In the walking -- stair climbing control system, an improved finite state impedance controller was constructed, which incorporates a unique time function to enable gradual energy injection during weight acceptance phase. An intuitive thigh position-based switching condition was introduced to merge the walking and stair climbing controllers into one system. In the sit-to-stand controller, a similar controller was established, which eliminates the need for a state machine and significantly simplifies the controller tuning and implementation. The human testing was conducted with results demonstrating the effectiveness of both control systems.

Download or read book Design and Control of Powered Transtibial Prostheses written by Hao Zheng and published by . This book was released on 2017 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt: The primary purpose of lower extremity prostheses is to restore the locomotive functions of amputees' lost sections and joints. The objective of this dissertation is to develop energetically active transtibial (TT, also known as below-knee) prostheses with powered ankle joints to generate sufficient power and torque with a compact form factor. Firstly, pneumatic sleeve muscle actuators have been designed and tested to investigate the feasibility of application of such type of actuator in TT prosthesis. Experimental results obtained on the prototypes validated and proved that sleeve muscle is a good fit for robotic systems with asymmetric force/torque requirements. Although the pneumatic sleeve muscle can provide sound force/torque capacities, it is challenging to build a transtibial prosthesis with this type of actuator that can match the size and weight of the human ankle. Hence, the subsequent efforts are directed towards utilizing a more compact actuation unit 0́3 pneumatic cylinder, which is well known for its capability in generating large force/power output with light weight and compact volumetric profile. Thus, a transtibial prosthesis has been designed using pneumatic cylinder. A finite-state impedance controller (FSIC) has been developed as a walking controller, and the parameters are tuned in walking experiments. The results from the experiments proved that the prosthesis is able to provide an improved gait compared with the traditional passive prosthesis. Additionally, a model that characterizes the stiffness and equilibrium point as functions of the chamber air masses in the pneumatic cylinder has been developed and a predictive pressure control algorithm was used to improve pressure control performance while minimizing valve actions. This enables the pneumatic actuator to be used as a variable series elastic actuator (VSEA). Experimental results showed that the proposed approach is able to provide the desired elastic characteristics of an artificial spring in stiffness control and demonstrated the advantages of this new approach for potential prosthetic applications. Lastly, the dissertation presents VSEA-powered TT prosthesis with direct implementation of the finite-state impedance control (FSIC). The human subject walking experiments were also conducted, and the results demonstrated the effectiveness of the direct FSIC prosthesis control approach.

Download or read book Design and Implications of a Robotic Prosthetic Leg with Low impedance Actuation written by Toby Brent Elery and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Recent developments in the field of powered prostheses have produced several devices that implement a wide variety of actuation schemes, each presenting specific benefits and limitations to prosthetic design and acceptance of robotic prostheses. The work of this dissertation encompasses research focused on the design and implications of an actuation scheme new to robotic prosthetic leg design; low-impedance actuation. Although this style of actuation has shown promise in legged robots, it has potential benefits specifically relating to powered prosthetic legs as well. Such benefits include free-swinging knee motion, compliance with the ground, negligible unmodeled actuator dynamics, less acoustic noise, and power regeneration. To investigate these potential benefits a custom transfemoral (knee-ankle) robotic prosthetic leg with high-torque, low-impedance actuators was created. Preliminary benchtop testing established that both joints can be backdriven by small torques (~1-3 Nm), confirming the small reflected inertia and low impedance. The reduced joint-level impedance was achieved while maintaining the ability to produce very large torque (~180 Nm). Impedance control tests prove that the intrinsic impedance and unmodeled dynamics of the actuator are sufficiently small to control joint impedance without torque feedback or lengthy tuning trials. The negligible effect of the actuator's unmodeled dynamics is further demonstrated through the direct implementation of biological impedances in amputee walking experiments. The regenerative abilities, low friction, and small reflected inertia of the presented actuators also offer practical benefits through reduced power consumption and acoustic noise compared to state-of-art powered legs. Although these benefits are mainly related to the physical device, this dissertation also extends the investigation into potential benefits to the wearer. Additional walking experiments were conducted with three amputee subjects to study how the powered prosthetic leg with low-impedance actuators affected gait compensations, specifically at the residual hip. A walking controller was implemented on the powered prosthesis to exploit the low-impedance actuators' power density during push-off, impedance control abilities in stance, and trajectory tracking abilities to ensure toe-clearance during swing. Results show that when large push-off power is provided, less work is demanded from the residual hip to progress the limb forward. Moreover, all subjects displayed increased step length and propulsive impulses for the prosthetic side, compared to their passive prostheses. These results reduce demand on the hip to accelerate the body forward and display the ability to improve gait symmetries. Hip circumduction improved for subjects who had previously exhibited this compensation on their passive prosthesis. The improvements made to these compensations lead to reduced residual hip power and work, which can reduce fatigue and overuse injuries.

Download or read book Lower limb Prosthetics written by Norman Berger and published by . This book was released on 1997 with total page 178 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Journal of Rehabilitation R D written by and published by . This book was released on 2009 with total page 532 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Lower limb Robotic Devices written by Sai Kit Wu and published by . This book was released on 2012 with total page 112 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lower limb robotic devices, like prostheses and orthosis, are required to work closely with human limbs, and thus an effective control framework and reliable design are both critical. This dissertation presents novel methods to control a DC powered knee prosthesis, a pneumatic prosthesis, and the progress of controlling a multifunctional orthosis. Moreover, this dissertation also presents a novel pneumatic knee prosthesis design. A novel high-level controller controls the DC powered knee prosthesis by utilizing the Electromyography (EMG) with biomechanical model. The controller combines an active control component that reflects the wearer's motion intention, with a reactive control component that implements the controllable impedance critical to the safe and stable interaction. The effectiveness of the proposed control approach is demonstrated through the experimental results for arbitrary free swing and level walking. A sliding mode low-level controller is applied to control the pneumatic prosthesis to overcome the highly nonlinearity from the properties of pneumatic muscle and the design of prosthesis. The effectiveness of the controller is demonstrated though experiments. The progress of making a complete control algorithm for a multifunctional orthosis consists of two major parts. One is the user movement classification methods. There are a total of three classifiers: the walk-to-stop classifier, the speed-changing classifier, and the movement start classifier, which includes climbing up a stair, climbing down a stair and level walking. The classification rate of all three qualifiers is 90% or more. The second major part of the research is high-level controllers for different functions. A high-level fuzzy impedance controller, which increases the flexibility of a regular impedance controller, has been developed for speed adaptive walking control. The effectiveness of the controller is demonstrated through simulation. A novel knee prosthesis design which utilizes the rope pulley mechanism and slider crank mechanism. In the pulley design for the rope pulley mechanism, a superellipse pulley is chosen to give more variation. The parameters in those mechanisms and the prosthesis are optimized, so that the knee torque from the prosthesis is close to that in a biological leg. The design also reserves space for the components of an ankle prosthesis.

Download or read book Journal of Rehabilitation Research Development written by and published by . This book was released on 2009 with total page 644 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book The Promise of Assistive Technology to Enhance Activity and Work Participation written by National Academies of Sciences, Engineering, and Medicine and published by National Academies Press. This book was released on 2017-09-01 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: The U.S. Census Bureau has reported that 56.7 million Americans had some type of disability in 2010, which represents 18.7 percent of the civilian noninstitutionalized population included in the 2010 Survey of Income and Program Participation. The U.S. Social Security Administration (SSA) provides disability benefits through the Social Security Disability Insurance (SSDI) program and the Supplemental Security Income (SSI) program. As of December 2015, approximately 11 million individuals were SSDI beneficiaries, and about 8 million were SSI beneficiaries. SSA currently considers assistive devices in the nonmedical and medical areas of its program guidelines. During determinations of substantial gainful activity and income eligibility for SSI benefits, the reasonable cost of items, devices, or services applicants need to enable them to work with their impairment is subtracted from eligible earnings, even if those items or services are used for activities of daily living in addition to work. In addition, SSA considers assistive devices in its medical disability determination process and assessment of work capacity. The Promise of Assistive Technology to Enhance Activity and Work Participation provides an analysis of selected assistive products and technologies, including wheeled and seated mobility devices, upper-extremity prostheses, and products and technologies selected by the committee that pertain to hearing and to communication and speech in adults.

Download or read book Journal of Rehabilitation Research and Development written by and published by . This book was released on 1989 with total page 1190 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Prototyping of Robotic Systems Applications of Design and Implementation written by Sobh, Tarek and published by IGI Global. This book was released on 2012-02-29 with total page 521 pages. Available in PDF, EPUB and Kindle. Book excerpt: As a segment of the broader science of automation, robotics has achieved tremendous progress in recent decades due to the advances in supporting technologies such as computers, control systems, cameras and electronic vision, as well as micro and nanotechnology. Prototyping a design helps in determining system parameters, ranges, and in structuring an overall better system. Robotics is one of the industrial design fields in which prototyping is crucial for improved functionality. Prototyping of Robotic Systems: Applications of Design and Implementation provides a framework for conceptual, theoretical, and applied research in robotic prototyping and its applications. Covering the prototyping of various robotic systems including the complicated industrial robots, the tiny and delicate nanorobots, medical robots for disease diagnosis and treatment, as well as the simple robots for educational purposes, this book is a useful tool for those in the field of robotics prototyping and as a general reference tool for those in related fields.

Download or read book Bulletin of Prosthetics Research written by and published by . This book was released on 1981 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Advanced Planning Control and Signal Processing Methods and Applications in Robotic Systems written by Zhan Li and published by Frontiers Media SA. This book was released on 2022-02-22 with total page 182 pages. Available in PDF, EPUB and Kindle. Book excerpt: