Environmental Recognition and Multimode Continuous-Phase Control for a Powered Transfemoral Prosthesis

Shucong Yin1; Xinxing Chen1; Teng Ma1,2; Yuxuan Wang1; Yixuan Guo1; Yuquan Leng1; Chenglong Fu1

10.1109/ICDL55364.2023.10364513

2023-11-11

2023 IEEE International Conference on Development and Learning

978-1-6654-7076-6

2023 IEEE International Conference on Development and Learning (ICDL)

55-60

November 9-11, 2023

Macau, China

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

The continuous-phase-based control method is currently being developed for powered transfemoral prostheses. However, most of the research concentrates on single locomotion mode. The multimode continuous-phase control method for powered transfemoral prostheses is still an open question. To solve the existing problem, this paper proposes a multimode continuous-phase control method for powered transfemoral prostheses. The prosthesis first needs to recognize the surrounding environment and obtain the corresponding environmental features. Then, the gait phase is estimated by phase variable which represents the mapping relationship between thigh angle and gait phase. Finally, the desired trajectories of the knee and ankle joints on various locomotion modes are constructed as functions of the gait phase and environmental features. These functions are called virtual constraints. The proposed phase variable and virtual constraints are evaluated on a public dataset through offline analysis. The root mean squared errors (RMSEs) of the phase variable and virtual constraints in all locomotion modes are less than 3% and 4%, respectively. It proves that the proposed method can precisely predict the gait phase and joints angle for powered prostheses in all locomotion modes.

environmental recognition phase variable multimode virtual constraints prosthesis

第一 ; 通讯

英语

EI ; CPCI-S

National Natural Science Foundation of China["U1913205","62103180","52175272"]

Behavioral Sciences ; Computer Science ; Robotics

Behavioral Sciences ; Computer Science, Artificial Intelligence ; Robotics

WOS:001172928700009

20240415433223

Joints (anatomy) ; Prosthetics

Biomechanics, Bionics and Biomimetics:461.3 ; Prosthetics:462.4 ; Mathematical Statistics:922.2

人工提交

正式出版

1.Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen 518055, China
2.department of Biomedical Engineering, National University of Singapore

Shucong Yin,Xinxing Chen,Teng Ma,et al. Environmental Recognition and Multimode Continuous-Phase Control for a Powered Transfemoral Prosthesis[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2023:55-60.