Study of the Control of Active Transfemoral Prosthesis Based on CPG

2012 ◽  
Vol 468-471 ◽  
pp. 1710-1713
Author(s):  
Yan Li Geng ◽  
Peng Yang ◽  
Ling Ling Chen
Keyword(s):  
Dynamical System ◽  
Power Generation ◽  
Central Pattern Generator ◽  
Lower Limb ◽  
3D Model ◽  
Pattern Generator ◽  
Passive Devices ◽  
Transfemoral Amputees ◽  
Hopf Oscillator ◽  
Transfemoral Prosthesis

Commercial transfemoral prostheses remain limited to energetically passive devices. Intelligent prostheses still do not replace the power generation capabilities of the missing limb. Active Transfemoral Prosthesis is designed to compensate the movements of transfemoral amputees. Base on the function and principle of huaman lower limb, Active transfemoral prosthesis is designed. Virtual prototype of active transfemoral prosthesis 3D model is built through Solidworks. A dynamical system is used to generate a position trajectory to control a linear motor replacing the missing joint. Hopf oscillator is used to construct a central pattern generator (CPG), which makes up the dynamical system.

Study on Optimization of CPG Model for Lower Limb Prosthesis

2013 ◽  
Vol 461 ◽  
pp. 633-640
Author(s):  
Xin Guo ◽  
Ming Yue Li ◽  
Cai Yu Xu
Keyword(s):  
Control Method ◽  
Three Dimensional ◽  
Pattern Generator ◽  
Joint Angles ◽  
Camera System ◽  
Walking Gait ◽  
Lower Limb Prosthesis ◽  
Transfemoral Amputees ◽  
Hopf Oscillator ◽  
Limb Prosthesis

A Multitude of different prosthesis designs have been developed for restoring transtibial and transfemoral amputees’ mobility.But yet,most of them are considered as passive devices.Therefore,more and more researchers develop bionic controller that simulate the biological certral pattern generator,namely CPG.This paper presents a new control method using bipedal robotics technology and bio-inspiration based on CPG.To begin with,we present the fundamental measurement of human walking gait and the device mainly includes three-dimensional camera system,digitized movements analyzer and so on.We choose hopf oscillators as CPG simulation unit.And after several tests,five oscillators are just right for a single joint.We change the simple hopf oscillator equation.Thus corresponding to the knee,CPG modeling finally generate actual human angle curve.Then we define learning equation as learning a given periodic signal.By trying different values of the different parameters we obtain the desired walking curve of knee joint.Using the obtained parameters,learning equation reproduce knee joint angle.According to the signal of the accelerometer that placed in the hip to adjust learning equation,so the amputees can easily control the speed of walking.Matlab simulation results show that the same trend with changes in human joint angles,which lay a good foundation for the control of active prostheses.

Development of a Powered-Knee Transfemoral Prosthesis Prototype

2011 ◽  
Author(s):  
Carl D. Hoover ◽  
Kevin B. Fite
Keyword(s):  
Activities Of Daily Living ◽  
Daily Living ◽  
Limb Development ◽  
Positive Power ◽  
Daily Living Activities ◽  
Prosthetic Limb ◽  
Passive Devices ◽  
Transfemoral Amputees ◽  
Power Outputs ◽  
Transfemoral Prosthesis

Commercial prosthetic limb development for transfemoral amputees has historically focused on legged locomotive function with energetically dissipative or conservative limbs. While such passive devices are effective at approximating the mechanics of the knee during level walking and stair/slope descent, the inability of these limbs to impose net positive power prevents amputees from executing a number of activities of daily living. Activities such as ascending slopes, ascending stairs, and jumping require net positive power outputs that are not fully realizable with current prosthetic leg technology [1–3]. While functionality has improved with microprocessor-based passive limbs [4], amputees continue to exhibit increased metabolic demands and non-anthropomorphic asymmetric gait [5].

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