Massachusetts Institute of Technology
Sign in | Create Account

Dynamic Walking 2010. Michael Goldfarb. Implicit Control of a Powered Knee and Ankle Prosthesis.

Lower limb prostheses have traditionally been passive devices that lack the ability to generate net power at the joints. This absence of net power generation impairs the ability of passive prosthesis to restore biomechanically healthy function to lower limb amputees. Recent advances in battery, motor, and microelectronics technologies have enabled the possibility of powered (i.e., active) lower limb prostheses. Instilling a lower limb prosthesis with power, however, changes greatly the nature and significance of the prosthesis control and interface problem (i.e., a passive prosthesis can fundamentally only react to the user's input, but a powered prosthesis can both act as well as react). This talk describes the development of a lower limb prosthesis with a powered knee and ankle joint, and describes the control methodology through which the prostheses interacts with the user. Results are presented that indicate the effectiveness of the prosthesis and control interface.

Comments (0)

It looks like no one has posted a comment yet. You can be the first!

You need to log in, in order to post comments. If you don’t have an account yet, sign up now!

Dynamic Walking 2010

Dynamic Walking 2010

Category: Education | Updated 4 years ago

August 03, 2010 10:20
All Rights Reserved (What is this?)
Additional Files

2341 times

More from Dynamic Walking 2010

Dynamic Walking 2010. Monica Daley. Diversity of bipedal locomotion among birds: Insights into the interplay of morphology, economy and stability

Dynamic Walking 2010. Monica Daley....

Added 4 years ago | 00:22:57 | 3589 views

Dynamic Walking 2010. Shai Revzen. Data Driven Floquet Analysis for Biomechanics and Robotics

Dynamic Walking 2010. Shai Revzen. ...

Added 4 years ago | 00:29:45 | 3373 views

Dynamic Walking 2010. Tom Roberts. Fast, cheap and out of control: dynamic interactions of elastic structures and muscle motors

Dynamic Walking 2010. Tom Roberts. ...

Added 4 years ago | 00:44:10 | 2697 views

Dynamic Walking 2010. Roland Siegwart. Exploitation of Natural Dynamics in Quadrupedal Locomotion

Dynamic Walking 2010. Roland Siegwa...

Added 4 years ago | 00:28:59 | 3626 views

Dynamic Walking 2010. Fumihiko Asano. Energy-based Control Approaches to Efficient Dynamic Bipedal Walking.

Dynamic Walking 2010. Fumihiko Asan...

Added 4 years ago | 00:34:20 | 4557 views

Dynamic Walking 2010. Shuuji Kajita. Development of Cybernetic Human HRP-4C - struggle to realize human walking

Dynamic Walking 2010. Shuuji Kajita...

Added 4 years ago | 00:47:15 | 4159 views