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Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control with Real-Time Force Sensing

Gehlhar, Rachel and Yang, Je-han and Ames, Aaron D. (2022) Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control with Real-Time Force Sensing. IEEE Robotics and Automation Letters, 7 (2). pp. 5151-5158. ISSN 2377-3766. doi:10.1109/lra.2022.3154810.

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Lower-limb prosthesis wearers are more prone to falling than non-amputees. Powered prostheses 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 provably stable prosthesis controllers that only require the human interaction forces with the prosthesis, yet these controllers have not been realized with sensing of these forces in the control loop. Our work realizes the first model-dependent prosthesis knee controller that uses in-the-loop on-board real-time force sensing at the interface between the human and prosthesis and at the ground. The result is an optimization-based control methodology that formally guarantees stability while enabling human-prosthesis walking on a variety of terrain types. Experimental results demonstrate this force-based controller outperforms similar controllers not using force sensors, improving tracking across 4 terrain types.

Item Type:Article
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URLURL TypeDescription
Gehlhar, Rachel0000-0002-4838-8839
Yang, Je-han0000-0003-1537-8797
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2022 IEEE. Manuscript received September 9, 2021; accepted February 7, 2022. Date of publication February 28, 2022; date of current version March 10, 2022. This letter was recommended for publication by Associate Editor J.-J. Cabibihan and Editor P. Valdastri upon evaluation of the reviewers’ comments. This work was supported in part by the NSF GRF under Grant DGE-1745301, in part by the NSF under Awards 1923239 and 1924526, and in part by Wandercraft under Award WANDERCRAFT.21. This research was approved by the California Institute of Technology Institutional Review Board with protocol no. 21-0693 for human subject testing.
Funding AgencyGrant Number
NSF Graduate Research FellowshipDGE-1745301
Subject Keywords:Humanoids and bipedal locomotion, physically assistive devices, prosthetics and exoskeletons
Issue or Number:2
Record Number:CaltechAUTHORS:20220307-188387000
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Official Citation:R. Gehlhar, J. -h. Yang and A. D. Ames, "Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control With Real-Time Force Sensing," in IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 5151-5158, April 2022, doi: 10.1109/LRA.2022.3154810
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:113763
Deposited By: George Porter
Deposited On:08 Mar 2022 15:08
Last Modified:22 Mar 2022 20:35

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