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Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition

Zhao, Huihua and Reher, Jacob and Horn, Jonathan and Paredes, Victor and Ames, Aaron D. (2015) Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition. In: 2015 IEEE International Conference on Rehabilitation Robotics (ICORR). IEEE , Piscataway, NJ, pp. 265-270. ISBN 978-1-4799-1808-9. https://resolver.caltech.edu/CaltechAUTHORS:20190208-103725181

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Abstract

This paper presents a systematic methodology for achieving stable locomotion behaviors on transfemoral prostheses, together with a framework for transitioning between these behaviors-both of which are realized experimentally on the self-contained custom-built prosthesis AMPRO. Extending previous results for translating robotic walking to prosthesis, the first main contribution of this paper is the gait generation and control development for realizing dynamic stair climbing. This framework leads to the second main contribution of the paper: a methodology for motion intent recognition, allowing for natural and smooth transitions between different motion primitives, e.g., standing, level walking, and stair climbing. The contributions presented in this paper, including stair ascent and transitioning between motion primitives, are verified in simulation and realized experimentally on AMPRO. Improved tracking and energy efficiency is seen when the online optimization based controller is utilized for stair climbing and the motion intent recognition algorithm successfully transitions between motion primitives with a success rate of over 98%.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/icorr.2015.7281210DOIArticle
https://youtu.be/oNZxkiiCnUgRelated ItemVideo
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2015 IEEE. This research is supported under: NSF CAREER Award CNS-0953823 and Texas Emerging Technology Fund 11062-013. This research has approval from the Institutional Review Board with IRB2014-0382F for testing with humans.
Funders:
Funding AgencyGrant Number
NSFCNS-0953823
Texas Emerging Technology Fund11062-013
Record Number:CaltechAUTHORS:20190208-103725181
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190208-103725181
Official Citation:H. Zhao, J. Reher, J. Horn, V. Paredes and A. D. Ames, "Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition," 2015 IEEE International Conference on Rehabilitation Robotics (ICORR), Singapore, 2015, pp. 265-270. doi: 10.1109/ICORR.2015.7281210
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92792
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:08 Feb 2019 18:56
Last Modified:03 Oct 2019 20:48

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