Model-based robust and adaptive control of transfemoral prostheses: Theory, simulation, and experiments

dc.contributor.advisor Hutchinson, Seth
dc.contributor.advisor Simon, Dan
dc.contributor.author Azimi, Vahid
dc.contributor.committeeMember Abdallah, Chaouki T.
dc.contributor.committeeMember Young, Aaron
dc.contributor.department Electrical and Computer Engineering
dc.date.accessioned 2020-05-20T16:59:09Z
dc.date.available 2020-05-20T16:59:09Z
dc.date.created 2020-05
dc.date.issued 2020-02-18
dc.date.submitted May 2020
dc.date.updated 2020-05-20T16:59:09Z
dc.description.abstract This thesis presents and experimentally implements five different robust, adaptive, and robust adaptive controllers as the first steps towards using model-based controllers for transfemoral prostheses. The goal of this research is to translate these control methods to the robotic domain, from bipedal robotic walking to prosthesis walking, including a rigorous stability analysis. The human/prosthesis system is first modeled as a two-domain hybrid asymmetric system. The model upon which the controllers are based is a 5-link planar hybrid system (both continuous and discrete behaviors) with point feet, to represent a transfemoral amputee’s body and limbs. An optimization problem is formulated to obtain a stable human-like gait. The proposed controllers are then developed for the combined human/prosthesis model and the optimized reference gait. The stability of all five controllers is proven using the Lyapunov stability theorem and Barbalat’s lemma, ensuring convergence to the desired gait. The proposed controllers are first verified on a bipedal walking robot as a hybrid human/prosthesis model in simulation. Simulations show that the proposed controllers are capable of meeting specific performance requirements regarding trajectory tracking of the prosthetic knee, convergence to a stable periodic orbit, and robustness to force/obstacle disturbances while walking on flat ground. They are then experimentally tested on a treadmill with an able-bodied subject using AMPRO3 (the third iteration of Advanced Mechanical Prosthesis), a custom self-contained powered transfemoral prosthesis. Results show that all controllers provide humanlike walking and accurate tracking performance for a healthy human subject utilizing a transfemoral prosthesis. Finally, outdoor tests are carried out using AMPRO3 with three test subjects walking on level ground, uphill slopes, and downhill slopes at slope angles of 3 and 8 degrees, to demonstrate walking in different real-world environments.
dc.description.degree M.S.
dc.format.mimetype application/pdf
dc.identifier.uri http://hdl.handle.net/1853/62747
dc.language.iso en_US
dc.publisher Georgia Institute of Technology
dc.subject Adaptive and robust control
dc.subject Hybrid system
dc.subject Transfemoral prosthesis
dc.subject Walking biped
dc.title Model-based robust and adaptive control of transfemoral prostheses: Theory, simulation, and experiments
dc.type Text
dc.type.genre Thesis
dspace.entity.type Publication
local.contributor.advisor Hutchinson, Seth
local.contributor.corporatename School of Electrical and Computer Engineering
local.contributor.corporatename College of Engineering
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relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
thesis.degree.level Masters
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