Combining Human Volitional Control with Intrinsic Controller on Robotic   Prosthesis: A Case Study on Adaptive Slope Walking

doi:10.1109/EMBC.2015.7319462

CORC > 北京大学 > 工学院

	Combining Human Volitional Control with Intrinsic Controller on Robotic Prosthesis: A Case Study on Adaptive Slope Walking
	Chen, Baojun ; Wang, Qining
	2015
关键词	ANKLE-FOOT PROSTHESIS KNEE
DOI	10.1109/EMBC.2015.7319462
英文摘要	Affording lower-limb amputees the ability to volitionally control robotic prostheses can improve the adaptability to terrain changes as well as enhancing proprioception. However, it also increases amputees' conscious burdens for prosthesis control. Therefore, in this paper, we aim to propose a hybrid controller which combines human volitional control with the intrinsic controller on the robotic transtibial prosthesis, enabling the amputee actively controlling prosthesis with little conscious attention. In this preliminary study, a hybrid controller for adaptive slope walking was designed. A slope estimator was embedded in the intrinsic controller to estimate the ground slope of the previous step using signals measured by prosthetic sensors. And a myoelectric controller allows the amputee subject to convey slope changes to prosthetic controller by volitionally contract his residual muscles, whose electromyography signals were mapped to the slope increment. The hybrid controller combined these two results to obtain the estimated slope. One male transtibial amputee subject was recruited in this research. Experiment results showed that the intrinsic slope estimator produced satisfactory estimation results with an average absolute error of 0 : 7 0 +/- 0 : 5 4 degrees. By adding amputee's volitional control, the hybrid controller is able to predict the upcoming slope changes.; EI; CPCI-S(ISTP); qiningwang@pku.edu.cn; 4777-4780; 2015-November
会议录	2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/436512]
专题	工学院
推荐引用方式 GB/T 7714	Chen, Baojun,Wang, Qining. Combining Human Volitional Control with Intrinsic Controller on Robotic Prosthesis: A Case Study on Adaptive Slope Walking[C]. 见:.