Motion Intention Analysis-Based Coordinated Control for Amputee-Prosthesis Interaction
To study amputee-prosthesis (AP) interaction, a novel reconfigurable biped robot was designed and fabricated. In homogeneous configuration, two identical artificial legs (ALs) were used to simulate the symmetrical lower limbs of a healthy person. Linear inverted pendulum model combining with ZMP sta...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2010-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2010/139634 |
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| _version_ | 1832566917561319424 |
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| author | Fei Wang Shiguang Wen Chengdong Wu Yuzhong Zhang Jincheng Li |
| author_facet | Fei Wang Shiguang Wen Chengdong Wu Yuzhong Zhang Jincheng Li |
| author_sort | Fei Wang |
| collection | DOAJ |
| description | To study amputee-prosthesis (AP) interaction, a novel reconfigurable biped robot was designed and fabricated. In homogeneous configuration, two identical artificial legs (ALs) were used to simulate the symmetrical lower limbs of a healthy person. Linear inverted pendulum model combining with ZMP stability criterion was used to generate the gait trajectories of ALs. To acquire interjoint coordination for healthy gait, rate gyroscopes were mounted on CoGs of thigh and shank of both legs. By employing principal component analysis, the measured angular velocities were processed and the motion synergy was obtained in the final. Then, one of two ALs was replaced by a bionic leg (BL), and the biped robot was changed into heterogeneous configuration to simulate the AP coupling system. To realize symmetrical stable walking, master/slave coordinated control strategy is proposed. According to information acquired by gyroscopes, BL recognized the motion intention of AL and reconstructed its kinematic variables based on interjoint coordination. By employing iterative learning control, gait tracking of BL to AL was archived. Real environment robot walking experiments validated the correctness and effectiveness of the proposed scheme. |
| format | Article |
| id | doaj-art-be04a82712db41f7bd1b2ab7b665ddf2 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2010-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-be04a82712db41f7bd1b2ab7b665ddf22025-02-03T01:02:50ZengWileyJournal of Robotics1687-96001687-96192010-01-01201010.1155/2010/139634139634Motion Intention Analysis-Based Coordinated Control for Amputee-Prosthesis InteractionFei Wang0Shiguang Wen1Chengdong Wu2Yuzhong Zhang3Jincheng Li4The institute of Artificial Intelligence & Robotics, College of Information Science & Engineering, Northeastern University, 110004 Shenyang, ChinaThe institute of Artificial Intelligence & Robotics, College of Information Science & Engineering, Northeastern University, 110004 Shenyang, ChinaThe institute of Artificial Intelligence & Robotics, College of Information Science & Engineering, Northeastern University, 110004 Shenyang, ChinaThe institute of Artificial Intelligence & Robotics, College of Information Science & Engineering, Northeastern University, 110004 Shenyang, ChinaThe institute of Artificial Intelligence & Robotics, College of Information Science & Engineering, Northeastern University, 110004 Shenyang, ChinaTo study amputee-prosthesis (AP) interaction, a novel reconfigurable biped robot was designed and fabricated. In homogeneous configuration, two identical artificial legs (ALs) were used to simulate the symmetrical lower limbs of a healthy person. Linear inverted pendulum model combining with ZMP stability criterion was used to generate the gait trajectories of ALs. To acquire interjoint coordination for healthy gait, rate gyroscopes were mounted on CoGs of thigh and shank of both legs. By employing principal component analysis, the measured angular velocities were processed and the motion synergy was obtained in the final. Then, one of two ALs was replaced by a bionic leg (BL), and the biped robot was changed into heterogeneous configuration to simulate the AP coupling system. To realize symmetrical stable walking, master/slave coordinated control strategy is proposed. According to information acquired by gyroscopes, BL recognized the motion intention of AL and reconstructed its kinematic variables based on interjoint coordination. By employing iterative learning control, gait tracking of BL to AL was archived. Real environment robot walking experiments validated the correctness and effectiveness of the proposed scheme.http://dx.doi.org/10.1155/2010/139634 |
| spellingShingle | Fei Wang Shiguang Wen Chengdong Wu Yuzhong Zhang Jincheng Li Motion Intention Analysis-Based Coordinated Control for Amputee-Prosthesis Interaction Journal of Robotics |
| title | Motion Intention Analysis-Based Coordinated Control for Amputee-Prosthesis Interaction |
| title_full | Motion Intention Analysis-Based Coordinated Control for Amputee-Prosthesis Interaction |
| title_fullStr | Motion Intention Analysis-Based Coordinated Control for Amputee-Prosthesis Interaction |
| title_full_unstemmed | Motion Intention Analysis-Based Coordinated Control for Amputee-Prosthesis Interaction |
| title_short | Motion Intention Analysis-Based Coordinated Control for Amputee-Prosthesis Interaction |
| title_sort | motion intention analysis based coordinated control for amputee prosthesis interaction |
| url | http://dx.doi.org/10.1155/2010/139634 |
| work_keys_str_mv | AT feiwang motionintentionanalysisbasedcoordinatedcontrolforamputeeprosthesisinteraction AT shiguangwen motionintentionanalysisbasedcoordinatedcontrolforamputeeprosthesisinteraction AT chengdongwu motionintentionanalysisbasedcoordinatedcontrolforamputeeprosthesisinteraction AT yuzhongzhang motionintentionanalysisbasedcoordinatedcontrolforamputeeprosthesisinteraction AT jinchengli motionintentionanalysisbasedcoordinatedcontrolforamputeeprosthesisinteraction |