Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2014
We present a novel swing phase controller for powered transfemoral prostheses based on minimum je... more We present a novel swing phase controller for powered transfemoral prostheses based on minimum jerk theory. The proposed controller allows physiologically appropriate swing movement at any walking speed, regardless of the stance controller action. Preliminary validation in a transfemoral amputee subject demonstrates that the proposed controller provides physiological swing timing, without speed-or patient-specific tuning.
IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, 2014
Recent powered (or robotic) prosthetic legs independently control different joints and time perio... more Recent powered (or robotic) prosthetic legs independently control different joints and time periods of the gait cycle, resulting in control parameters and switching rules that can be difficult to tune by clinicians. This challenge might be addressed by a unifying control model used by recent bipedal robots, in which virtual constraints define joint patterns as functions of a monotonic variable that continuously represents the gait cycle phase. In the first application of virtual constraints to amputee locomotion, this paper derives exact and approximate control laws for a partial feedback linearization to enforce virtual constraints on a prosthetic leg. We then encode a human-inspired invariance property called effective shape into virtual constraints for the stance period. After simulating the robustness of the partial feedback linearization to clinically meaningful conditions, we experimentally implement this control strategy on a powered transfemoral leg. We report the results of...
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2014
We present a novel swing phase controller for powered transfemoral prostheses based on minimum je... more We present a novel swing phase controller for powered transfemoral prostheses based on minimum jerk theory. The proposed controller allows physiologically appropriate swing movement at any walking speed, regardless of the stance controller action. Preliminary validation in a transfemoral amputee subject demonstrates that the proposed controller provides physiological swing timing, without speed-or patient-specific tuning.
IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, 2014
Recent powered (or robotic) prosthetic legs independently control different joints and time perio... more Recent powered (or robotic) prosthetic legs independently control different joints and time periods of the gait cycle, resulting in control parameters and switching rules that can be difficult to tune by clinicians. This challenge might be addressed by a unifying control model used by recent bipedal robots, in which virtual constraints define joint patterns as functions of a monotonic variable that continuously represents the gait cycle phase. In the first application of virtual constraints to amputee locomotion, this paper derives exact and approximate control laws for a partial feedback linearization to enforce virtual constraints on a prosthetic leg. We then encode a human-inspired invariance property called effective shape into virtual constraints for the stance period. After simulating the robustness of the partial feedback linearization to clinically meaningful conditions, we experimentally implement this control strategy on a powered transfemoral leg. We report the results of...
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Papers by Tommaso Lenzi