SYSTEMS AND METHODS FOR AUTOMATICALLY TUNING POWERED PROSTHESIS IMPEDANCE CONTROL PARAMETERS

摘要

An example system for tuning powered prosthesis impedance control parameters can include a powered prosthesis and intelligent tuner operably connected to the powered prosthesis. The powered prosthesis can include a joint, a motor that is mechanically coupled to the joint, a plurality of sensors configured to measure a plurality of gait parameters associated with a subject, and an impedance controller. The motor of the powered prosthesis can be configured to drive the joint, and the impedance controller of the powered prosthesis can be configured to output a control signal for adjusting a torque of the motor, where the torque is adjusted as a function of the measured gait parameters and a plurality of impedance control parameters. The intelligent tuner can be configured to adjust at least one of the impedance control parameters using a rule base.

主权项

1. A system for tuning powered prosthesis impedance control parameters, comprising:
a powered prosthesis comprising:
a joint,a motor mechanically coupled to the joint, the motor being configured to drive the joint,a plurality of sensors configured to measure a plurality of gait parameters associated with a subject, andan impedance controller configured to output a control signal for adjusting a torque of the motor, wherein the torque is adjusted as a function of the measured gait parameters and a plurality of impedance control parameters; and an intelligent tuner operably connected to the powered prosthesis, wherein the intelligent tuner is configured to adjust at least one of the impedance control parameters using a rule base.