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Simulating prosthetic devices with human-inspired hybrid control

Sinnet, Ryan W. and Zhao, Huihua and Ames, Aaron D. (2011) Simulating prosthetic devices with human-inspired hybrid control. In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE , Piscataway, NJ, pp. 1723-1730. ISBN 978-1-61284-456-5. https://resolver.caltech.edu/CaltechAUTHORS:20190225-142546398

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Abstract

A method is proposed which enables testing of prosthetic devices in simulation. A hybrid model is used to represent human walking—the combination of continuous and discrete dynamics motivates the use of hybrid systems. A human walking experiment is analyzed and mathematical functions on the kinematics of the collected data are found which capture some of the fundamental behaviors associated with human walking. One model is considered in which these behaviors are fully tracked using feedback linearization; the intent of this is to simulate healthy human walking. Then, a second model is considered: this model is assumed to be a human with a transfemoral prosthesis; PD control is used on the prosthesis. All models considered demonstrate locally exponentially stable periodic orbits when simulated for four separate test subjects, or, in other words, the models exhibit stable walking even with a prosthetic lower extremity. The methods used in this paper are a stepping stone toward a process capable of rapidly prototyping potential prosthesis designs and controllers.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS.2011.6095186DOIArticle
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2011 IEEE. R. W. Sinnet is an NSF Graduate Research Fellow. This work is also supported by NSF grant CNS-0953823 and NHARP award 00512-0184-2009.
Funders:
Funding AgencyGrant Number
NSF Graduate Research FellowshipUNSPECIFIED
NSFCNS-0953823
Norman Hackerman Advanced Research Program (NHARP)00512-0184-2009
Record Number:CaltechAUTHORS:20190225-142546398
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190225-142546398
Official Citation:R. W. Sinnet, H. Zhao and A. D. Ames, "Simulating prosthetic devices with human-inspired hybrid control," 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 1723-1730. doi: 10.1109/IROS.2011.6095186
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:93235
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:25 Feb 2019 22:47
Last Modified:03 Oct 2019 20:52

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