This paper presents experimental results of a myoelectric impedance controller designed for reciprocal stair ascent with an active-knee powered transfemoral prosthesis. The controller is modeled from non-amputee (normal) motion capture data, estimating knee torque with a linear two-state (stance/swing) impedance control form that includes proportional myoelectric torque control. The normal gait model is characterized by small stiffness and damping in both stance and swing, a low angle set-point in stance, a high angle set-point in swing, and proportional myoelectric control in stance but not swing. Clinical tests with a single unilateral transfemoral amputee indicate good performance of the controller; however, subject feedback suggests a reduction in the extensive myoelectric torque parameter and the need for constant, balanced myoelectric torque parameters in both stance and swing. Average prosthesis knee joint kinetics from a stairwell test using the amputee-tuned controller compare favorably with non-amputee gait data.
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ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
October 31–November 2, 2011
Arlington, Virginia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5476-1
PROCEEDINGS PAPER
Myoelectric Torque Control of an Active Transfemoral Prosthesis During Stair Ascent
Carl D. Hoover,
Carl D. Hoover
Clarkson University, Potsdam, NY
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Kevin B. Fite,
Kevin B. Fite
Clarkson University, Potsdam, NY
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George D. Fulk,
George D. Fulk
Clarkson University, Potsdam, NY
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Donald W. Holmes
Donald W. Holmes
Northern Orthopedic Laboratory, Inc., Potsdam, NY
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Carl D. Hoover
Clarkson University, Potsdam, NY
Kevin B. Fite
Clarkson University, Potsdam, NY
George D. Fulk
Clarkson University, Potsdam, NY
Donald W. Holmes
Northern Orthopedic Laboratory, Inc., Potsdam, NY
Paper No:
DSCC2011-5998, pp. 451-458; 8 pages
Published Online:
May 5, 2012
Citation
Hoover, CD, Fite, KB, Fulk, GD, & Holmes, DW. "Myoelectric Torque Control of an Active Transfemoral Prosthesis During Stair Ascent." Proceedings of the ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2. Arlington, Virginia, USA. October 31–November 2, 2011. pp. 451-458. ASME. https://doi.org/10.1115/DSCC2011-5998
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