Optimal control for the active above-knee prosthesis
Control of an active above-knee prosthesis has been simulated for a selected gait activity using a hierarchical closed-loop method. An extension of finite-state control, referred to as artificial reflex control, was adopted at the strategic level of control. At the actuator level of control an optim...
Gespeichert in:
| Veröffentlicht in: | Annals of biomedical engineering 1991-01, Vol.19 (2), p.131-150 |
|---|---|
| Hauptverfasser: | , , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 150 |
|---|---|
| container_issue | 2 |
| container_start_page | 131 |
| container_title | Annals of biomedical engineering |
| container_volume | 19 |
| creator | POPOVIC, D OGUZTORELI, M. N STEIN, R. B |
| description | Control of an active above-knee prosthesis has been simulated for a selected gait activity using a hierarchical closed-loop method. An extension of finite-state control, referred to as artificial reflex control, was adopted at the strategic level of control. At the actuator level of control an optimal tracking method, based on dynamic programming, is applied. This deals mainly with the actuator level of control, but considers the interaction of the leg dynamics and the switching effects of artificial reflex control. Optimal tracking at the actuator level of the above-knee prosthesis reduces the on-off effects of finite-state methods, such as artificial reflex control. The proposed method can also be used for the design of prosthetic elements. Specific attention is paid to the limited torque and power in the prosthetic joint actuator, which are imposed by the principle of self-containment in the artificial leg. The hierarchical structure, integrating artificial reflex control and optimal tracking, can be used in real time, as estimated from the number of computer operations required for the suggested method. |
| doi_str_mv | 10.1007/BF02368465 |
| format | Article |
| fullrecord | <record><control><sourceid>proquest_cross</sourceid><recordid>TN_cdi_proquest_miscellaneous_80609250</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>80609250</sourcerecordid><originalsourceid>FETCH-LOGICAL-c342t-64b46a6a61a213db0c100e63be20d14b0fc79de927aeb4869822482bcfebe4973</originalsourceid><addsrcrecordid>eNqFkM1Lw0AQxRdRaq1evAs5iAchOvu9e9RiVSj0ouewu5lgNE1qNi3437vSoEeZwzu8H_NmHiHnFG4ogL69XwDjygglD8iUSs1zq4w6JFMAC7myShyTkxjfASg1XE7IhIEwWvMpEavNUK9dk4WuHfquyaquz4Y3zFwY6l0S3-0w_2gRs03fxeTEOp6So8o1Ec9GnZHXxcPL_Clfrh6f53fLPHDBhlwJL5RLQx2jvPQQ0rWouEcGJRUeqqBtiZZph14YZQ1jwjAfKvQorOYzcrXfm6I_txiHYl3HgE3jWuy2sTCgwDIJ_4JM8pQieAKv92BIz8Qeq2LTp_f7r4JC8dNl8ddlgi_GrVu_xvIXHctL_uXouxhcU_WuDXX8xSRXGqTk3wgveZg</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>25392743</pqid></control><display><type>article</type><title>Optimal control for the active above-knee prosthesis</title><source>MEDLINE</source><source>SpringerLink Journals - AutoHoldings</source><creator>POPOVIC, D ; OGUZTORELI, M. N ; STEIN, R. B</creator><creatorcontrib>POPOVIC, D ; OGUZTORELI, M. N ; STEIN, R. B</creatorcontrib><description>Control of an active above-knee prosthesis has been simulated for a selected gait activity using a hierarchical closed-loop method. An extension of finite-state control, referred to as artificial reflex control, was adopted at the strategic level of control. At the actuator level of control an optimal tracking method, based on dynamic programming, is applied. This deals mainly with the actuator level of control, but considers the interaction of the leg dynamics and the switching effects of artificial reflex control. Optimal tracking at the actuator level of the above-knee prosthesis reduces the on-off effects of finite-state methods, such as artificial reflex control. The proposed method can also be used for the design of prosthetic elements. Specific attention is paid to the limited torque and power in the prosthetic joint actuator, which are imposed by the principle of self-containment in the artificial leg. The hierarchical structure, integrating artificial reflex control and optimal tracking, can be used in real time, as estimated from the number of computer operations required for the suggested method.</description><identifier>ISSN: 0090-6964</identifier><identifier>EISSN: 1573-9686</identifier><identifier>DOI: 10.1007/BF02368465</identifier><identifier>PMID: 2048773</identifier><identifier>CODEN: ABMECF</identifier><language>eng</language><publisher>New York, NY: Springer</publisher><subject>Artificial Limbs ; Biological and medical sciences ; Energy Metabolism ; Gait - physiology ; Humans ; Medical sciences ; Models, Biological ; Prosthesis Design ; Radiotherapy. Instrumental treatment. Physiotherapy. Reeducation. Rehabilitation, orthophony, crenotherapy. Diet therapy and various other treatments (general aspects) ; Therapy, Computer-Assisted ; Thigh</subject><ispartof>Annals of biomedical engineering, 1991-01, Vol.19 (2), p.131-150</ispartof><rights>1992 INIST-CNRS</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c342t-64b46a6a61a213db0c100e63be20d14b0fc79de927aeb4869822482bcfebe4973</citedby><cites>FETCH-LOGICAL-c342t-64b46a6a61a213db0c100e63be20d14b0fc79de927aeb4869822482bcfebe4973</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,780,784,27923,27924</link.rule.ids><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=5367055$$DView record in Pascal Francis$$Hfree_for_read</backlink><backlink>$$Uhttps://www.ncbi.nlm.nih.gov/pubmed/2048773$$D View this record in MEDLINE/PubMed$$Hfree_for_read</backlink></links><search><creatorcontrib>POPOVIC, D</creatorcontrib><creatorcontrib>OGUZTORELI, M. N</creatorcontrib><creatorcontrib>STEIN, R. B</creatorcontrib><title>Optimal control for the active above-knee prosthesis</title><title>Annals of biomedical engineering</title><addtitle>Ann Biomed Eng</addtitle><description>Control of an active above-knee prosthesis has been simulated for a selected gait activity using a hierarchical closed-loop method. An extension of finite-state control, referred to as artificial reflex control, was adopted at the strategic level of control. At the actuator level of control an optimal tracking method, based on dynamic programming, is applied. This deals mainly with the actuator level of control, but considers the interaction of the leg dynamics and the switching effects of artificial reflex control. Optimal tracking at the actuator level of the above-knee prosthesis reduces the on-off effects of finite-state methods, such as artificial reflex control. The proposed method can also be used for the design of prosthetic elements. Specific attention is paid to the limited torque and power in the prosthetic joint actuator, which are imposed by the principle of self-containment in the artificial leg. The hierarchical structure, integrating artificial reflex control and optimal tracking, can be used in real time, as estimated from the number of computer operations required for the suggested method.</description><subject>Artificial Limbs</subject><subject>Biological and medical sciences</subject><subject>Energy Metabolism</subject><subject>Gait - physiology</subject><subject>Humans</subject><subject>Medical sciences</subject><subject>Models, Biological</subject><subject>Prosthesis Design</subject><subject>Radiotherapy. Instrumental treatment. Physiotherapy. Reeducation. Rehabilitation, orthophony, crenotherapy. Diet therapy and various other treatments (general aspects)</subject><subject>Therapy, Computer-Assisted</subject><subject>Thigh</subject><issn>0090-6964</issn><issn>1573-9686</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>1991</creationdate><recordtype>article</recordtype><sourceid>EIF</sourceid><recordid>eNqFkM1Lw0AQxRdRaq1evAs5iAchOvu9e9RiVSj0ouewu5lgNE1qNi3437vSoEeZwzu8H_NmHiHnFG4ogL69XwDjygglD8iUSs1zq4w6JFMAC7myShyTkxjfASg1XE7IhIEwWvMpEavNUK9dk4WuHfquyaquz4Y3zFwY6l0S3-0w_2gRs03fxeTEOp6So8o1Ec9GnZHXxcPL_Clfrh6f53fLPHDBhlwJL5RLQx2jvPQQ0rWouEcGJRUeqqBtiZZph14YZQ1jwjAfKvQorOYzcrXfm6I_txiHYl3HgE3jWuy2sTCgwDIJ_4JM8pQieAKv92BIz8Qeq2LTp_f7r4JC8dNl8ddlgi_GrVu_xvIXHctL_uXouxhcU_WuDXX8xSRXGqTk3wgveZg</recordid><startdate>19910101</startdate><enddate>19910101</enddate><creator>POPOVIC, D</creator><creator>OGUZTORELI, M. N</creator><creator>STEIN, R. B</creator><general>Springer</general><scope>IQODW</scope><scope>CGR</scope><scope>CUY</scope><scope>CVF</scope><scope>ECM</scope><scope>EIF</scope><scope>NPM</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>8FD</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>7X8</scope></search><sort><creationdate>19910101</creationdate><title>Optimal control for the active above-knee prosthesis</title><author>POPOVIC, D ; OGUZTORELI, M. N ; STEIN, R. B</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c342t-64b46a6a61a213db0c100e63be20d14b0fc79de927aeb4869822482bcfebe4973</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>1991</creationdate><topic>Artificial Limbs</topic><topic>Biological and medical sciences</topic><topic>Energy Metabolism</topic><topic>Gait - physiology</topic><topic>Humans</topic><topic>Medical sciences</topic><topic>Models, Biological</topic><topic>Prosthesis Design</topic><topic>Radiotherapy. Instrumental treatment. Physiotherapy. Reeducation. Rehabilitation, orthophony, crenotherapy. Diet therapy and various other treatments (general aspects)</topic><topic>Therapy, Computer-Assisted</topic><topic>Thigh</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>POPOVIC, D</creatorcontrib><creatorcontrib>OGUZTORELI, M. N</creatorcontrib><creatorcontrib>STEIN, R. B</creatorcontrib><collection>Pascal-Francis</collection><collection>Medline</collection><collection>MEDLINE</collection><collection>MEDLINE (Ovid)</collection><collection>MEDLINE</collection><collection>MEDLINE</collection><collection>PubMed</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Technology Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>MEDLINE - Academic</collection><jtitle>Annals of biomedical engineering</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>POPOVIC, D</au><au>OGUZTORELI, M. N</au><au>STEIN, R. B</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Optimal control for the active above-knee prosthesis</atitle><jtitle>Annals of biomedical engineering</jtitle><addtitle>Ann Biomed Eng</addtitle><date>1991-01-01</date><risdate>1991</risdate><volume>19</volume><issue>2</issue><spage>131</spage><epage>150</epage><pages>131-150</pages><issn>0090-6964</issn><eissn>1573-9686</eissn><coden>ABMECF</coden><abstract>Control of an active above-knee prosthesis has been simulated for a selected gait activity using a hierarchical closed-loop method. An extension of finite-state control, referred to as artificial reflex control, was adopted at the strategic level of control. At the actuator level of control an optimal tracking method, based on dynamic programming, is applied. This deals mainly with the actuator level of control, but considers the interaction of the leg dynamics and the switching effects of artificial reflex control. Optimal tracking at the actuator level of the above-knee prosthesis reduces the on-off effects of finite-state methods, such as artificial reflex control. The proposed method can also be used for the design of prosthetic elements. Specific attention is paid to the limited torque and power in the prosthetic joint actuator, which are imposed by the principle of self-containment in the artificial leg. The hierarchical structure, integrating artificial reflex control and optimal tracking, can be used in real time, as estimated from the number of computer operations required for the suggested method.</abstract><cop>New York, NY</cop><pub>Springer</pub><pmid>2048773</pmid><doi>10.1007/BF02368465</doi><tpages>20</tpages></addata></record> |
| fulltext | fulltext |
| identifier | ISSN: 0090-6964 |
| ispartof | Annals of biomedical engineering, 1991-01, Vol.19 (2), p.131-150 |
| issn | 0090-6964 1573-9686 |
| language | eng |
| recordid | cdi_proquest_miscellaneous_80609250 |
| source | MEDLINE; SpringerLink Journals - AutoHoldings |
| subjects | Artificial Limbs Biological and medical sciences Energy Metabolism Gait - physiology Humans Medical sciences Models, Biological Prosthesis Design Radiotherapy. Instrumental treatment. Physiotherapy. Reeducation. Rehabilitation, orthophony, crenotherapy. Diet therapy and various other treatments (general aspects) Therapy, Computer-Assisted Thigh |
| title | Optimal control for the active above-knee prosthesis |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-09T06%3A10%3A13IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_cross&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Optimal%20control%20for%20the%20active%20above-knee%20prosthesis&rft.jtitle=Annals%20of%20biomedical%20engineering&rft.au=POPOVIC,%20D&rft.date=1991-01-01&rft.volume=19&rft.issue=2&rft.spage=131&rft.epage=150&rft.pages=131-150&rft.issn=0090-6964&rft.eissn=1573-9686&rft.coden=ABMECF&rft_id=info:doi/10.1007/BF02368465&rft_dat=%3Cproquest_cross%3E80609250%3C/proquest_cross%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=25392743&rft_id=info:pmid/2048773&rfr_iscdi=true |