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Design and Evaluation of a Controller for Ramp Negotiation with an Active Transfemoral Prosthesis

Roks, M.J. (2019) Design and Evaluation of a Controller for Ramp Negotiation with an Active Transfemoral Prosthesis.

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Abstract:Active microprocessor-controlled prosthetic knees (A-MPKs) have the benefits above passive microprocessor-controller prosthetic knees (P-MPKs) to generate net joint power and actively adapt to different terrain conditions. This is especially beneficial for more energy-demanding tasks like ascending ramps which cost less effort with an A-MPK compared to a P-MPK. Therefore a controller is designed for upslope and downslope walking with a new developed A-MPK, the ILK. Also, a real-time slope estimation algorithm and automatic mode switching between controllers for different walking activities is implemented. The controllers and slope estimation algorithm are tested by a TFA subject. Slope walking with the A-MPK is compared with a P-MPK. Results of the A-MPK show more similarity with healthy subject reference data than the P-MPK. Also, the subject preferred the A-MPK for walking on slopes over the P-MPK. Calculated DoA shows that in general symmetric step lengths with the left and right leg are reached. The slope estimation algorithm can estimate the slope with an accuracy of about 4° every step at MS and needs further improvement. Automatic mode switching based on measured axial forces at MS can switch between the different walking modes but is sometimes just too late or too early.
Item Type:Essay (Master)
Faculty:ET: Engineering Technology
Subject:44 medicine, 50 technical science in general
Programme:Biomedical Engineering MSc (66226)
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