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3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation

Zhao, Huihua and Hereid, Ayonga and Ambrose, Eric and Ames, Aaron D. (2016) 3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation. In: 2016 IEEE 55th Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 3668-3674. ISBN 978-1-5090-1837-6. https://resolver.caltech.edu/CaltechAUTHORS:20190205-140612490

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Abstract

Virtual constraints have been recognized as an essential bridging tool which has the potential to translate rich nonlinear bipedal control methodologies to the control of prostheses. In this paper, we propose a hybrid system model based two-step direct collocation approach to automatically generate three-dimensional (3D) human-like multi-contact prosthetic gaits (via virtual constraints) for an asymmetric amputee-prosthesis system model. Unimpaired human locomotion is studied first to provide a reference for this gait design method. Specific requirements-such as amputee comfortability, human-likeness, physical limitations for hardware implementation-are then discussed explicitly in order to quantify a well-designed prosthetic gait. A 29 degrees of freedom 3D unsymmetrical bipedal robotic model is considered to model the asymmetric amputee-prosthesis system. Imposing the prosthetic gait requirements as nonlinear constraints and utilizing the asymmetric 3D hybrid system model, a two-step direct collocation based optimization method is proposed to generate 3D prosthetic gaits automatically. The resulting prosthetic gait is analyzed in detail, showing the designed multi-contact gait is human-like, formally stable and optimal w.r.t the requirements.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/CDC.2016.7798821DOIArticle
https://youtu.be/eH6NRq1OK3wRelated ItemVideo
ORCID:
AuthorORCID
Hereid, Ayonga0000-0002-4156-2013
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2016 IEEE. This research is supported by NSF CAREER Award CNS-0953823.
Funders:
Funding AgencyGrant Number
NSFCNS-0953823
Record Number:CaltechAUTHORS:20190205-140612490
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190205-140612490
Official Citation:H. Zhao, A. Hereid, E. Ambrose and A. D. Ames, "3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation," 2016 IEEE 55th Conference on Decision and Control (CDC), Las Vegas, NV, 2016, pp. 3668-3674. doi: 10.1109/CDC.2016.7798821
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92680
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:05 Feb 2019 22:31
Last Modified:03 Oct 2019 20:47

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