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Model-Dependent Prosthesis Control with Real-Time Force Sensing

Gehlhar, Rachel and Yang, Je-han and Ames, Aaron D. (2021) Model-Dependent Prosthesis Control with Real-Time Force Sensing. . (Unpublished)

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Lower-limb prosthesis wearers are more prone to fall than non-amputees. Powered prosthesis can reduce this instability of passive prostheses. While shown to be more stable in practice, powered prostheses generally use model-independent control methods that lack formal guarantees of stability and rely on heuristic tuning. Recent work overcame one of the limitations of model-based prosthesis control by developing a class of stable prosthesis subsystem controllers independent of the human model, except for its interaction forces with the prosthesis. Force sensors to measure these socket interaction forces as well as the ground reaction forces (GRFs) could introduce noise into the control loop making hardware implementation infeasible. This paper addresses part of this limitation by obtaining some of the GRFs through an insole pressure sensor. This paper achieves the first model-dependent prosthesis controller that uses in-the-loop on-board real-time force sensing, resulting in stable human-prosthesis walking and increasing the validity of our formal guarantees of stability.

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. DGE-1745301. This research was approved by California Institute of Technology Institutional Review Board with protocol no. 16-0693 for human subject testing.
Funding AgencyGrant Number
NSF Graduate Research FellowshipDGE-1745301
Record Number:CaltechAUTHORS:20210604-142538125
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:109394
Deposited By: George Porter
Deposited On:07 Jun 2021 14:29
Last Modified:07 Jun 2021 14:29

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