Energy-Efficient Braking Torque Control of Robotic Transtibial Prosthesis | |
Yuan, Kebin ; Wang, Qining ; Wang, Long | |
刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS |
2017 | |
关键词 | Braking torque control impedance model power consumption robotic transtibial prosthesis STAIR ASCENT ANKLE WALKING DESIGN GAIT BIOMECHANICS AMPUTEES |
DOI | 10.1109/TMECH.2016.2620166 |
英文摘要 | The ankle joint usually rotates passively during early and middle stance due to the locomotion of human body. Based on this passive dynamics of human locomotion, we develop an energy-efficient braking torque controller for a robotic transtibial prosthesis. The controller first generates motor current/torque from human locomotion instead of the battery energy, and then controls the current/torque with alternating current sensing and voltage-controlled-resistor. On the basis of the low-level motor torque controller, we then propose the impedance model that determines the desired joint torque according to the joint angle and joint velocity, the prosthesis model that converts the desired ankle joint torque to desired motor torque, and the friction model that estimates the friction torque and compensates the joint torque. Step response and frequency response show that the low-level controller can reach the desired torque value within 0.07 s, and has a -3 dB bandwidth of 25.2 Hz. Experiments of level-ground treadmill walking with three amputees show that the prosthesis with the proposed controller can effectively mimic the normal ankle performance and bring the amputees a natural gait pattern with low power consumption.; National Program for Support of Top-notch Young Professionals; National Natural Science Foundation of China [61005082, 61020106005, 61533001]; Beijing Disabled Persons' Federation; Beijing Nova Program [Z141101001814001]; Beijing Municipal Science and Technology Project [Z151100003715001, Z151100000915073]; SCI(E); ARTICLE; 1; 149-160; 22 |
语种 | 英语 |
内容类型 | 期刊论文 |
源URL | [http://ir.pku.edu.cn/handle/20.500.11897/475422] |
专题 | 工学院 |
推荐引用方式 GB/T 7714 | Yuan, Kebin,Wang, Qining,Wang, Long. Energy-Efficient Braking Torque Control of Robotic Transtibial Prosthesis[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2017. |
APA | Yuan, Kebin,Wang, Qining,&Wang, Long.(2017).Energy-Efficient Braking Torque Control of Robotic Transtibial Prosthesis.IEEE-ASME TRANSACTIONS ON MECHATRONICS. |
MLA | Yuan, Kebin,et al."Energy-Efficient Braking Torque Control of Robotic Transtibial Prosthesis".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2017). |
个性服务 |
查看访问统计 |
相关权益政策 |
暂无数据 |
收藏/分享 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论