Compliant Control of a Transfemoral Prosthesis by combining Feed-Forward and Feedback

Heins, Sophie;Flynn, Louis;Laloyaux, Henri;Geeroms, Joost;Ronsse, Renaud;et.al.
(2020) 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) — Location: New York City, NY, USA (29.November.2020)

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Authors
  • Heins, SophieUCLouvain
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  • Flynn, LouisVUB
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  • Laloyaux, Henriorcid-logoUCLouvain
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  • Geeroms, JoostVUB
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  • Ronsse, Renaudorcid-logoUCLouvain
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Abstract
This paper reports the development and preliminary validation of a bio-inspired controller using an adaptive oscillator and artificial primitives for a powered ankleknee prosthesis, namely the CYBERLEGsPlusPlus Gammaprosthesis. The proposed controller combines a feed-forward reference torque component with a feedback impedance-based torque component for the prosthetic knee and ankle joints. A treadmill walking experiment was conducted with a transfemoral amputee to assess the relevance of the feed-forward torque component, compared to a pure feedback control approach. Results showed that adding a feed-forward torque component to both prosthetic joints allowed a decrease of the feedback gains, and thus a more compliant behavior of the prosthesis. This combined condition was well-perceived by the pilot transfemoral amputee.
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Heins, S., Flynn, L., Laloyaux, H., Geeroms, J., Lefeber, D., & Ronsse, R. (2020). Compliant Control of a Transfemoral Prosthesis by combining Feed-Forward and Feedback. 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). Published. 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), New York City, NY, USA. https://doi.org/10.1109/biorob49111.2020.9224434