Compliant Control of a Transfemoral Prosthesis by combining Feed-Forward and Feedback

This paper reports the development and preliminary validation of a bio-inspired controller using an adaptive oscillator and artificial primitives for a powered ankle-knee prosthesis, namely the CYBERLEGsPlusPlus Gammaprosthesis. The proposed controller combines a feed-forward reference torque component with a feedback impedance-based torque component for the prosthetic knee and ankle joints. A treadmill walking experiment was conducted with a transfemoral amputee to assess the relevance of the feed-forward torque component, compared to a pure feedback control approach. Results showed that adding a feed-forward torque component to both prosthetic joints allowed a decrease of the feedback gains, and thus a more compliant behavior of the prosthesis. This combined condition was well-perceived by the pilot transfemoral amputee.

Jaar van publicatie:2020

Toegankelijkheid:Closed