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 over 3 years ago

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


Viewed
2091 times

More from Dynamic Walking 2010

Dynamic Walking 2010. Aaron Ames. First steps toward closing the loop on walking: from human walking to hybrid systems to robotic walking and back

Dynamic Walking 2010. Aaron Ames. F...

Added over 3 years ago | 00:48:59 | 3976 views

Dynamic Walking 2010. Sangbae Kim. Bio-inspired Robot Design for Hyper-Dynamic Locomotion

Dynamic Walking 2010. Sangbae Kim. ...

Added over 3 years ago | 00:31:35 | 5526 views

Dynamic Walking 2010. Emanuel Todorov. Linearly-solvable optimal control: Theory and applications

Dynamic Walking 2010. Emanuel Todor...

Added over 3 years ago | 00:33:38 | 2521 views

Dynamic Walking 2010. Ian Manchester. Regions of Attraction to Limit Cycles of Nonlinear Hybrid Systems

Dynamic Walking 2010. Ian Mancheste...

Added over 3 years ago | 00:25:08 | 4585 views

Dynamic Walking 2010. Jerry Pratt. Humanoid Disturbance Recovery with Limited Available Footholds

Dynamic Walking 2010. Jerry Pratt. ...

Added over 3 years ago | 00:33:23 | 3292 views

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

Dynamic Walking 2010. Fumihiko Asan...

Added over 3 years ago | 00:34:20 | 4167 views