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A Novel Robust Model Reference Adaptive Impedance Control Scheme for an Active Transtibial Prosthesis

Published online by Cambridge University Press:  12 March 2019

Siamak Heidarzadeh ,
Mojtaba Sharifi ,
Hassan Salarieh  and
Aria Alasty
Siamak Heidarzadeh
Affiliation:
School of Mechanical Engineering, Sharif University of Technology, P.O. Box: 11155-9567, Tehran, Iran E-mails: heidarzadehsiamak@yahoo.com, mojtaba_sharifi@mech.sharif.edu, salarieh@sharif.edu, aalasti@sharif.edu
Mojtaba Sharifi
Affiliation:
School of Mechanical Engineering, Sharif University of Technology, P.O. Box: 11155-9567, Tehran, Iran E-mails: heidarzadehsiamak@yahoo.com, mojtaba_sharifi@mech.sharif.edu, salarieh@sharif.edu, aalasti@sharif.edu
Hassan Salarieh*
Affiliation:
School of Mechanical Engineering, Sharif University of Technology, P.O. Box: 11155-9567, Tehran, Iran E-mails: heidarzadehsiamak@yahoo.com, mojtaba_sharifi@mech.sharif.edu, salarieh@sharif.edu, aalasti@sharif.edu
Aria Alasty
Affiliation:
School of Mechanical Engineering, Sharif University of Technology, P.O. Box: 11155-9567, Tehran, Iran E-mails: heidarzadehsiamak@yahoo.com, mojtaba_sharifi@mech.sharif.edu, salarieh@sharif.edu, aalasti@sharif.edu
*
*Corresponding author. E-mail: salarieh@sharif.ir
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Summary

In this paper, a novel robust model reference adaptive impedance control (RMRAIC) scheme is presented for an active transtibial ankle prosthesis. The controller makes the closed loop dynamics of the prosthesis similar to a reference impedance model and provides asymptotic tracking of the response trajectory of this impedance model. The interactions between human and prosthesis are taken into account by designing a second-order reference impedance model. The proposed controller is robust against parametric uncertainties in the nonlinear dynamic model of the prosthesis. Also, the controller has robustness against bounded uncertainties due to unavailable ground reaction forces and unmeasurable feedbacks of accelerations at the socket place. Moreover, an appropriate Series Elastic Actuator (SEA) mechanism for the prosthetic ankle is included in this work and its effects are discussed. Tracking performance and stability of the closed-loop system are proven via the Lyapunov stability analysis. Using simulations on an overall amputee prosthetic foot system, the effectiveness of the proposed RMRAIC controller is investigated for the task of level ground walking.

Keywords

Ankle prosthesisPhysical human–robot interactionImpedance controlModel reference adaptive controlRobust control
Type
Articles
Information
Robotica , Volume 37 , Issue 9 , September 2019 , pp. 1562 - 1581
Copyright
© Cambridge University Press 2019 

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