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http://dx.doi.org/10.5302/J.ICROS.2015.15.9018

The Structure of a Powered Knee Prosthesis based on a BLDC Motor and Impedance Control using Torque Estimation on Free Swing  

Gyeong, Gi-Yeong (Department of Electrical Engineering, Inha University)
Kim, Jin-Geol (Department of Electrical Engineering, Inha University)
Lee, Young-Sam (Department of Electrical Engineering, Inha University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.21, no.5, 2015 , pp. 407-412 More about this Journal
Abstract
This paper presents the design of a lab-built powered knee prosthesis based on a BLDC motor, a sensored impedance control using a force sensor, and a sensorless impedance control through torque estimation. Firstly, we describe the structure of the lab-built powered knee prosthesis and its limitations. Secondly, we decompose the gait cycle into five stages and apply the position-based impedance control for the powered knee prosthesis. Thirdly, we perform an experiment for the torque estimation and the sensorless impedance control of the prosthesis. The experimental results show that we can use the torque estimation to control the low impedance during the swing phase, although the estimated torque data has a delay compared with the measured torque by a load cell.
Keywords
powered prosthesis; impedance control; torque estimation; gait;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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