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Control of Separable Subsystems with Application to Prostheses

Gehlhar, Rachel and Reher, Jenna and Ames, Aaron D. (2019) Control of Separable Subsystems with Application to Prostheses. . (Unpublished)

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Nonlinear control methodologies have successfully realized stable human-like walking on powered prostheses. However, these methods are typically restricted to model independent controllers due to the unknown human dynamics acting on the prosthesis. This paper overcomes this restriction by introducing the notion of a separable subsystem control law, independent of the full system dynamics. By constructing an equivalent subsystem, we calculate the control law with local information. We build a subsystem model of a general open-chain manipulator to demonstrate the control method's applicability. Employing these methods for an amputee-prosthesis model, we develop a model dependent prosthesis controller that relies solely on measurable states and inputs but is equivalent to a controller developed with knowledge of the human dynamics and states.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper
Gehlhar, Rachel0000-0002-4838-8839
Ames, Aaron D.0000-0003-0848-3177
Additional Information:This material is based upon work supported by the National Science Foundation Graduate Research Fellowship under Grant No. DGE1745301 and NSF NRI Grant No. 1724464.
Funding AgencyGrant Number
NSF Graduate Research FellowshipDGE-1745301
Record Number:CaltechAUTHORS:20200109-104408294
Persistent URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:100593
Deposited By: Tony Diaz
Deposited On:09 Jan 2020 19:40
Last Modified:07 Jul 2020 19:31

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