Control Technology and Applications. Control Technology and Applications最新文献

Bayesian Optimization for State and Parameter Estimation of Dynamic Networks with Binary Space. 二进制空间动态网络状态和参数估计的贝叶斯优化。

Control Technology and Applications. Control Technology and Applications Pub Date : 2024-08-01 Epub Date: 2024-09-11 DOI: 10.1109/ccta60707.2024.10666595

Mohammad Alali, Mahdi Imani

引用次数: 0

Toward Phase-Variable Control of Sit-to-Stand Motion with a Powered Knee-Ankle Prosthesis. 基于动力膝踝假体的坐立运动相位变控制研究。

Control Technology and Applications. Control Technology and Applications Pub Date : 2021-08-01 DOI: 10.1109/ccta48906.2021.9658844

Daphna Raz, Edgar Bolívar-Nieto, Necmiye Ozay, Robert D Gregg

{"title":"Toward Phase-Variable Control of Sit-to-Stand Motion with a Powered Knee-Ankle Prosthesis.","authors":"Daphna Raz, Edgar Bolívar-Nieto, Necmiye Ozay, Robert D Gregg","doi":"10.1109/ccta48906.2021.9658844","DOIUrl":"https://doi.org/10.1109/ccta48906.2021.9658844","url":null,"abstract":"This paper presents a new model and phase-variable controller for sit-to-stand motion in above-knee amputees. The model captures the effect of work done by the sound side and residual limb on the prosthesis, while modeling only the prosthetic knee and ankle with a healthy hip joint that connects the thigh to the torso. The controller is parametrized by a biomechanical phase variable rather than time and is analyzed in simulation using the model. We show that this controller performs well with minimal tuning, under a range of realistic initial conditions and biological parameters such as height and body mass. The controller generates kinematic trajectories that are comparable to experimentally observed trajectories in non-amputees. Furthermore, the torques commanded by the controller are consistent with torque profiles and peak values of normative human sit-to-stand motion. Rise times measured in simulation and in non-amputee experiments are also similar. Finally, we compare the presented controller with a baseline proportional-derivative controller demonstrating the advantages of the phase-based design over a set-point based design.","PeriodicalId":72705,"journal":{"name":"Control Technology and Applications. Control Technology and Applications","volume":"2021 ","pages":"627-633"},"PeriodicalIF":0.0,"publicationDate":"2021-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8868489/pdf/nihms-1719635.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10838092","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Real-Time Continuous Gait Phase and Speed Estimation from a Single Sensor. 基于单传感器的实时连续步态相位和速度估计。

Control Technology and Applications. Control Technology and Applications Pub Date : 2017-08-01 Epub Date: 2017-10-09 DOI: 10.1109/CCTA.2017.8062565

David Quintero, Daniel J Lambert, Dario J Villarreal, Robert D Gregg

{"title":"Real-Time Continuous Gait Phase and Speed Estimation from a Single Sensor.","authors":"David Quintero, Daniel J Lambert, Dario J Villarreal, Robert D Gregg","doi":"10.1109/CCTA.2017.8062565","DOIUrl":"https://doi.org/10.1109/CCTA.2017.8062565","url":null,"abstract":"Human gait involves a repetitive cycle of movements, and the phase of gait represents the location in this cycle. Gait phase is measured across many areas of study (e.g., for analyzing gait and controlling powered lower-limb prosthetic and orthotic devices). Current gait phase detection methods measure discrete gait events (e.g., heel strike, flat foot, toe off, etc.) by placing multiple sensors on the subject's lower-limbs. Using multiple sensors can create difficulty in experimental setup and real-time data processing. In addition, detecting only discrete events during the gait cycle limits the amount of information available during locomotion. In this paper we propose a real-time and continuous measurement of gait phase parameterized by a mechanical variable (i.e., phase variable) from a single sensor measuring the human thigh motion. Human subject experiments demonstrate the ability of the phase variable to accurately parameterize gait progression for different walking/running speeds (1 to 9 miles/hour). Our results show that this real-time method can also estimate gait speed from the same sensor.","PeriodicalId":72705,"journal":{"name":"Control Technology and Applications. Control Technology and Applications","volume":"2017 ","pages":"847-852"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/CCTA.2017.8062565","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"36432290","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 42

Automatic Tuning of Virtual Constraint-Based Control Algorithms for Powered Knee-Ankle Prostheses. 基于虚拟约束的动力膝关节假肢控制算法的自动调谐。

Control Technology and Applications. Control Technology and Applications Pub Date : 2017-08-01 DOI: 10.1109/CCTA.2017.8062560

Saurav Kumar, Alireza Mohammadi, Nicholas Gans, Robert D Gregg

{"title":"Automatic Tuning of Virtual Constraint-Based Control Algorithms for Powered Knee-Ankle Prostheses.","authors":"Saurav Kumar, Alireza Mohammadi, Nicholas Gans, Robert D Gregg","doi":"10.1109/CCTA.2017.8062560","DOIUrl":"https://doi.org/10.1109/CCTA.2017.8062560","url":null,"abstract":"State-of-art powered prosthetic legs are often controlled using a collection of joint impedance controllers designed for different phases of a walking cycle. Consequently, finite state machines are used to control transitions between different phases. This approach requires a large number of impedance parameters and switching rules to be tuned. Since one set of control parameters cannot be used across different amputees, clinicians spend enormous time tuning these gains for each patient. This paper proposes a virtual constraint-based control scheme with a smaller set of control parameters, which are automatically tuned in real-time using an extremum seeking controller (ESC). ESC, being a model-free control method, assumes no prior knowledge of either the prosthesis or human. Using a singular perturbation analysis, we prove that the virtual constraint tracking errors are small and the PD gains remain bounded. Simulations demonstrate that our ESC-based method is capable of adapting the virtual-constraint based control parameters for amputees with different masses.","PeriodicalId":72705,"journal":{"name":"Control Technology and Applications. Control Technology and Applications","volume":"2017 ","pages":"812-818"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/CCTA.2017.8062560","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"36457127","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 16

Removing Phase Variables from Biped Robot Parametric Gaits. 双足机器人参数步态中相位变量的去除。

Control Technology and Applications. Control Technology and Applications Pub Date : 2017-08-01 Epub Date: 2017-10-09 DOI: 10.1109/CCTA.2017.8062563

Alireza Mohammadi, Jonathan Horn, Robert D Gregg

引用次数: 3