CaltechAUTHORS
  A Caltech Library Service

Learning impedance controller parameters for lower-limb prostheses

Aghasadeghi, Navid and Zhao, Huihua and Hargrove, Levi J. and Ames, Aaron D. and Perreault, Eric J. and Bretl, Timothy (2013) Learning impedance controller parameters for lower-limb prostheses. In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE International Conference on Intelligent Robots and Systems. IEEE , Piscataway, NJ, pp. 4268-4274. ISBN 9781467363587. https://resolver.caltech.edu/CaltechAUTHORS:20190722-164824084

Full text is not posted in this repository. Consult Related URLs below.

Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20190722-164824084

Abstract

Impedance control is a common framework for control of lower-limb prosthetic devices. This approach requires choosing many impedance controller parameters. In this paper, we show how to learn these parameters for lower-limb prostheses by observation of unimpaired human walkers. We validate our approach in simulation of a transfemoral amputee, and we demonstrate the performance of the learned parameters in a preliminary experiment with a lower-limb prosthetic device.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS.2013.6696968DOIArticle
https://ieeexplore.ieee.org/document/6696968PublisherArticle
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2013 IEEE. This work was supported by the NSF program in Cyber-physical systems, grant #0939963, and by the National Institute of Neurological Disorders and Stroke of the National Institutes of Health under award #F31NS080618.
Funders:
Funding AgencyGrant Number
NSFCNS-0939963
NIH Postdoctoral FellowshipF31NS080618
Subject Keywords:Impedance, Trajectory, Joints, Prosthetics, Knee, Legged locomotion, Estimation
Series Name:IEEE International Conference on Intelligent Robots and Systems
Record Number:CaltechAUTHORS:20190722-164824084
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190722-164824084
Official Citation:N. Aghasadeghi, H. Zhao, L. J. Hargrove, A. D. Ames, E. J. Perreault and T. Bretl, "Learning impedance controller parameters for lower-limb prostheses," 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, 2013, pp. 4268-4274. doi: 10.1109/IROS.2013.6696968
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:97340
Collection:CaltechAUTHORS
Deposited By: Melissa Ray
Deposited On:23 Jul 2019 16:47
Last Modified:03 Oct 2019 21:30

Repository Staff Only: item control page