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contributor authorJinming Sun
contributor authorPhilip A. Voglewede
date accessioned2017-05-09T00:46:11Z
date available2017-05-09T00:46:11Z
date copyrightJune, 2011
date issued2011
identifier issn1932-6181
identifier otherJMDOA4-28018#027505_1.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/147224
description abstractA powered lower limb prosthesis using a four-bar linkage mechanism was previously optimized, designed, and fabricated. Preliminary bench testing was conducted to demonstrate that it is capable of reproducing the normal ankle moment of a nonamputee. This paper focuses on the control aspect of this prosthesis. A finite state controller, which includes a state selector and a lower level controller, is proposed. Three sets of sensors and a sensing schematic will be used to determine the state of the device. Proportional-integral-derivative (PID) torque or position control will be used to realize the lower level control. Future testing will be done on lower limb amputees to prove the feasibility of this control schematic.
publisherThe American Society of Mechanical Engineers (ASME)
titleControl of a Powered Lower Limb Prosthetic Device
typeJournal Paper
journal volume5
journal issue2
journal titleJournal of Medical Devices
identifier doi10.1115/1.3589229
journal fristpage27505
identifier eissn1932-619X
keywordsArtificial limbs
treeJournal of Medical Devices:;2011:;volume( 005 ):;issue: 002
contenttypeFulltext


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