Realization of Stair Ascent and Motion Transitions on Prostheses Utilizing Optimization-Based Control and Intent Recognition

Zhao, Huihua; Reher, Jacob; Horn, Jonathan; Paredes, Victor; Ames, Aaron D.

Title:

Realization of Stair Ascent and Motion Transitions on Prostheses Utilizing Optimization-Based Control and Intent Recognition

dc.contributor.author	Zhao, Huihua	en_US
dc.contributor.author	Reher, Jacob	en_US
dc.contributor.author	Horn, Jonathan	en_US
dc.contributor.author	Paredes, Victor	en_US
dc.contributor.author	Ames, Aaron D.	en_US
dc.contributor.corporatename	Georgia Institute of Technology. Institute for Robotics and Intelligent Machines	en_US
dc.contributor.corporatename	Georgia Institute of Technology. School of Electrical and Computer Engineering	en_US
dc.contributor.corporatename	Georgia Institute of Technology. School of Mechanical Engineering	en_US
dc.contributor.corporatename	Texas A & M University. Department of Mechanical Engineering	en_US
dc.date.accessioned	2016-05-09T15:37:18Z
dc.date.available	2016-05-09T15:37:18Z
dc.date.issued	2015-08
dc.description	© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.	en_US
dc.description	DOI: 10.1109/ICORR.2015.7281210	en_US
dc.description.abstract	This paper presents a systematic methodology for achieving stable locomotion behaviors on transfemoral prostheses, together with a framework for transitioning between these behaviors—both of which are realized experimentally on the self-contained custom-built prosthesis AMPRO. Extending previous results for translating robotic walking to prosthesis, the first main contribution of this paper is the gait generation and control development for realizing dynamic stair climbing. This framework leads to the second main contribution of the paper: a methodology for motion intent recognition, allowing for natural and smooth transitions between different motion primitives, e.g., standing, level walking, and stair climbing. The contributions presented in this paper, including stair ascent and transitioning between motion primitives, are verified in simulation and realized experimentally on AMPRO. Improved tracking and energy efficiency is seen when the online optimization based controller is utilized for stair climbing and the motion intent recognition algorithm successfully transitions between motion primitives with a success rate of over 98%.	en_US
dc.embargo.terms	null	en_US
dc.identifier.citation	Zhao, H., Reher, J., Horn, J., Paredes, V., & Ames, A.D. (2015). Realization of Stair Ascent and Motion Transitions on Prostheses Utilizing Optimization-based Control and Intent Recognition. IEEE International Conference on Rehabilitation Robotics (ICORR), 2015, pp. 265-270.	en_US
dc.identifier.doi	10.1109/ICORR.2015.7281210	en_US
dc.identifier.issn	1945-7898	en_US
dc.identifier.uri	http://hdl.handle.net/1853/54767
dc.language.iso	en_US	en_US
dc.publisher	Georgia Institute of Technology	en_US
dc.publisher.original	Institute of Electrical and Electronics Engineers	en_US
dc.subject	AMPRO	en_US
dc.subject	Dynamic stair climbing	en_US
dc.subject	Gait generation	en_US
dc.subject	Motion intent recognition	en_US
dc.subject	Motion primitives	en_US
dc.subject	Prosthetics	en_US
dc.title	Realization of Stair Ascent and Motion Transitions on Prostheses Utilizing Optimization-Based Control and Intent Recognition	en_US
dc.type	Text
dc.type.genre	Proceedings
dspace.entity.type	Publication
local.contributor.corporatename	Institute for Robotics and Intelligent Machines (IRIM)
local.contributor.corporatename	Advanced Mechanical Bipedal Experimental Robotics Lab
relation.isOrgUnitOfPublication	66259949-abfd-45c2-9dcc-5a6f2c013bcf
relation.isOrgUnitOfPublication	29d75055-4650-4521-943e-7f3cf6efc029