Massachusetts Institute of Technology
Sign in

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.

Dynamic Walking 2010

Dynamic Walking 2010

Category: Education | Updated over 5 years ago

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


Viewed
3122 times

More from Dynamic Walking 2010

Dynamic Walking 2010. Jessy Grizzle. Feedback Control of the Bipedal Robot MABEL

Dynamic Walking 2010. Jessy Grizzle...

Added over 5 years ago | 00:56:13 | 7622 views

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

Dynamic Walking 2010. Sangbae Kim. ...

Added over 5 years ago | 00:31:35 | 8345 views

Dynamic Walking 2010. Waleed Farahat. Optimal Workloop Energetics of Muscle-Actuated Systems: An Impedance Matching View

Dynamic Walking 2010. Waleed Faraha...

Added over 5 years ago | 00:41:49 | 4014 views

Dynamic Walking 2010. Stefano Stramigioli. Port-Based Robotics and Variable Impedance Actuators

Dynamic Walking 2010. Stefano Stram...

Added over 5 years ago | 00:28:58 | 4039 views

Dynamic Walking 2010. Russ Tedrake. Feedback Motion Planning via Sums-of-Squares Verification

Dynamic Walking 2010. Russ Tedrake....

Added over 5 years ago | 00:46:46 | 6470 views

Dynamic Walking 2010. Robert Gregg. Control and Planning with Asymptotically Stable Gait Primitives: 3D Dynamic Walking to Locomotor Rehabilitation.

Dynamic Walking 2010. Robert Gregg....

Added over 5 years ago | 00:33:35 | 6096 views