Design of an improved impedance controller for powered transtibial prosthesis
With the rapid development of powered transtibial prostheses, the control of motorized actuators is a research hotspot. This study designs a double-loop impedance controller to improve the performance of the traditional controller. Including time-varying parameters, the designed controller is implem...
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IOP Publishing Ltd
2022
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my.um.eprints.432822025-02-10T07:02:25Z http://eprints.um.edu.my/43282/ Design of an improved impedance controller for powered transtibial prosthesis Xie, Changle Tu, Mingyu Liu, Jingjing R Medicine TJ Mechanical engineering and machinery With the rapid development of powered transtibial prostheses, the control of motorized actuators is a research hotspot. This study designs a double-loop impedance controller to improve the performance of the traditional controller. Including time-varying parameters, the designed controller is implemented on a novel elastic actuator. Under different loads of users' weights, simulation tests are conducted in a working condition of walking, and the results show that the designed control system has outstanding performances in the control of an entire gait cycle. The error between output and reference of ankle joint position during walking is less than 0.013rad in each sample time. A position disturbance test demonstrates that the control also has a high tolerance of any position disturbance at the ankle joint. The double-loop impedance controller can replace traditional finite-state impedance control in the field of the powered transtibial prosthesis and has the potential to be applied in other relative fields. © 2022 Institute of Physics Publishing. All rights reserved. IOP Publishing Ltd 2022 Conference or Workshop Item PeerReviewed Xie, Changle and Tu, Mingyu and Liu, Jingjing (2022) Design of an improved impedance controller for powered transtibial prosthesis. In: 2021 International Conference on Robotics Automation and Intelligent Control, ICRAIC 2021, 26-28 November 2021, Virtual, Online. https://www.scopus.com/inward/record.uri?eid=2-s2.0-85126104211&doi=10.1088%2f1742-6596%2f2203%2f1%2f012036&partnerID=40&md5=f8c80f1829bfc4704352e232702f8263 |
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R Medicine TJ Mechanical engineering and machinery Xie, Changle Tu, Mingyu Liu, Jingjing Design of an improved impedance controller for powered transtibial prosthesis |
| description |
With the rapid development of powered transtibial prostheses, the control of motorized actuators is a research hotspot. This study designs a double-loop impedance controller to improve the performance of the traditional controller. Including time-varying parameters, the designed controller is implemented on a novel elastic actuator. Under different loads of users' weights, simulation tests are conducted in a working condition of walking, and the results show that the designed control system has outstanding performances in the control of an entire gait cycle. The error between output and reference of ankle joint position during walking is less than 0.013rad in each sample time. A position disturbance test demonstrates that the control also has a high tolerance of any position disturbance at the ankle joint. The double-loop impedance controller can replace traditional finite-state impedance control in the field of the powered transtibial prosthesis and has the potential to be applied in other relative fields. © 2022 Institute of Physics Publishing. All rights reserved. |
| format |
Conference or Workshop Item |
| author |
Xie, Changle Tu, Mingyu Liu, Jingjing |
| author_facet |
Xie, Changle Tu, Mingyu Liu, Jingjing |
| author_sort |
Xie, Changle |
| title |
Design of an improved impedance controller for powered transtibial prosthesis |
| title_short |
Design of an improved impedance controller for powered transtibial prosthesis |
| title_full |
Design of an improved impedance controller for powered transtibial prosthesis |
| title_fullStr |
Design of an improved impedance controller for powered transtibial prosthesis |
| title_full_unstemmed |
Design of an improved impedance controller for powered transtibial prosthesis |
| title_sort |
design of an improved impedance controller for powered transtibial prosthesis |
| publisher |
IOP Publishing Ltd |
| publishDate |
2022 |
| url |
http://eprints.um.edu.my/43282/ https://www.scopus.com/inward/record.uri?eid=2-s2.0-85126104211&doi=10.1088%2f1742-6596%2f2203%2f1%2f012036&partnerID=40&md5=f8c80f1829bfc4704352e232702f8263 |
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1825160590696382464 |
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13.239859 |