Ontology highlight
ABSTRACT:
SUBMITTER: Varol HA
PROVIDER: S-EPMC2798740 | biostudies-literature | 2009
REPOSITORIES: biostudies-literature
Varol Huseyin Atakan HA Sup Frank F Goldfarb Michael M
IEEE ... International Conference on Rehabilitation Robotics : [proceedings] 20090101
This work extends the three level powered knee and ankle prosthesis control framework previously developed by the authors by adding sitting mode. A middle level finite state based impedance controller is designed to accommodate sitting, sit-to-stand and stand-to-sit transitions. Moreover, a high level Gaussian Mixture Model based intent recognizer is developed to distinguish between standing and sitting modes and switch the middle level controllers accordingly. Experimental results with unilater ...[more]