Title:
Adaptive CPG based coordinated control of healthy and robotics lower limb movement
Adaptive CPG based coordinated control of healthy and robotics lower limb movement
Files
Authors
Ryu, Jae-Kwan
Chong, Nak Young
You, Bum Jae
Christensen, Henrik I.
Chong, Nak Young
You, Bum Jae
Christensen, Henrik I.
Authors
Person
Advisors
Advisors
Associated Organizations
Organizational Unit
Series
Collections
Supplementary to
Permanent Link
Abstract
This paper proposes an adaptive CPG based
controller for a lower limb prosthesis consisting of online
trajectory generation and interlimb coordination. The adaptive
CPG can produce multidimensional rhythmic patterns and
modulate their frequency by tuning relevant parameters in
an autonomously way adapting to a changing periodicity of
external signals. Also, to increase the stability of the prosthesis,
a spring-damper component is attached between the
hip and ankle joints, allowing the absorption of impulsive
ground reaction forces at landing. We verify the validity of the
proposed controller with a simulated humanoid robot through
the investigation of the self-coordination between the healthy
and robotic legs.
Sponsor
Date Issued
2009-09
Extent
Resource Type
Text
Resource Subtype
Article