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Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control

Zhao, Huihua and Horner, Jonathan and Reher, Jacob and Paredes, Victor and Ames, Aaron D. (2016) Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control. IEEE Transactions on Automation Science and Engineering, 13 (2). pp. 502-513. ISSN 1545-5955. https://resolver.caltech.edu/CaltechAUTHORS:20190208-091900699

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Abstract

Lower-limb prostheses provide a prime example of cyber-physical systems (CPSs) requiring the synergistic development of sensing, algorithms, and controllers. With a view towards better understanding CPSs of this form, this paper presents a systematic methodology using multidomain hybrid system models and optimization-based controllers to achieve human-like multicontact prosthetic walking on a custom-built prosthesis: AMPRO. To achieve this goal, unimpaired human locomotion data is collected and the nominal multicontact human gait is studied. Inspired by previous work which realized multicontact locomotion on the bipedal robot AMBER2, a hybrid system-based optimization problem utilizing the collected reference human gait as reference is utilized to formally design stable multicontact prosthetic gaits that can be implemented on the prosthesis directly. Leveraging control methods that stabilize bipedal walking robots–control Lyapunov function-based quadratic programs coupled with variable impedance control–an online optimization-based controller is formulated to realize the designed gait in both simulation and experimentally on AMPRO. Improved tracking and energy efficiency are seen when this methodology is implemented experimentally. Importantly, the resulting multicontact prosthetic walking captures the essentials of natural human walking both kinematically and kinetically.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/tase.2016.2524528DOIArticle
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2016 IEEE. Manuscript received June 16, 2015; revised December 10, 2015; accepted January 15, 2016. Date of publication March 03, 2016; date of current version April 05, 2016. This paper was recommended for publication by Editor J. Wen upon evaluation of the reviewers’ comments. This work was supported by the National Science Foundation (NSF) CAREER Award CNS-0953823 and in part by the Texas Emerging Technology Fund under Grant 11062-013. This research was approval by the Institutional Review Board under IRB2014-0382F for testing with human subjects.
Funders:
Funding AgencyGrant Number
NSFCNS-0953823
Texas Emerging Technology Fund11062-013
Subject Keywords:Control Lyapunov function, cyber-physical-system (CPS), hybrid system, optimization, transfemoral prosthesis
Issue or Number:2
Record Number:CaltechAUTHORS:20190208-091900699
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190208-091900699
Official Citation:H. Zhao, J. Horn, J. Reher, V. Paredes and A. D. Ames, "Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control," in IEEE Transactions on Automation Science and Engineering, vol. 13, no. 2, pp. 502-513, April 2016. doi: 10.1109/TASE.2016.2524528
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92785
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:08 Feb 2019 17:38
Last Modified:03 Oct 2019 20:48

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