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An Optimization-Based Approach for Prosthesis Dynamic Modeling and Parameter Identification

[+] Author Affiliations
Ting Yang

Harbin Institute of Technology, Harbin, China

Fen Wu

North Carolina State University, Raleigh, NC

Ming Liu, He (Helen) Huang

UNC & NC State Joint Dept. of Biomedical Engineering, Raleigh, NC

Paper No. DSCC2015-9637, pp. V001T16A001; 10 pages
doi:10.1115/DSCC2015-9637
From:
  • ASME 2015 Dynamic Systems and Control Conference
  • Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems
  • Columbus, Ohio, USA, October 28–30, 2015
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5724-3
  • Copyright © 2015 by ASME

abstract

In this paper, we propose an effective approach to model the prosthetic leg dynamics for amputees wearing active-transfemoral prosthesis (ATP) which is self-powered. To accommodate unexpected effects of thigh on knee joints, the dynamic prosthesis model has been derived using both the thigh-knee-shank and the knee-shank configurations. Correlated with the amputee’s walking data, a nonlinear optimization problem is then formulated to identify the model parameters and the gains of the PD controller which is used to control the input torque for the ATP, while reducing measurement errors of the data. Moreover, the identified models are validated by comparing the predicted dynamics with experimental measurements. The advantages of proposed method in terms of simplicity, flexibility, and accuracy are demonstrated by the high correlation coefficients and the low root-mean-square errors.

Copyright © 2015 by ASME

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