TY - Jour A2 - Fernández-Caballero，Antonio Au - Wu，Molei Au - Haque，MD Rejwanul Au-Shen，Xiangrong Py - 2017 DA - 2017/09/18 TI - 用仿生控制器获得自然坐在地面运动for Powered Knee Prostheses SP - 3850351 VL - 2017 AB - Standing up from a seated position is a common activity in people’s daily life. However, for transfemoral (i.e., above-knee) amputees fitted with traditional passive prostheses, the sit-to-stand (STS) transition is highly challenging, due to the inability of the prosthetic joints in generating torque and power output. In this paper, the authors present a new STS control approach for powered lower limb prostheses, which is able to regulate the power delivery of the prosthetic knee joint to obtain natural STS motion similar to that displayed by healthy subjects. Mimicking the dynamic behavior of the knee in the STS, a unified control structure provides the desired control actions by combining an impedance function with a time-based ramp-up function. The former provides the gradual energy release behavior desired in the rising phase, while the latter provides the gradual energy injection behavior desired in the loading phase. This simple and intuitive control structure automates the transition between the two phases, eliminating the need for explicit phase transition and facilitating the implementation in powered prostheses. Human testing results demonstrated that this new control approach is able to generate a natural standing-up motion, which is well coordinated with the user’s healthy-side motion in the STS process. SN - 2040-2295 UR - https://doi.org/10.1155/2017/3850351 DO - 10.1155/2017/3850351 JF - Journal of Healthcare Engineering PB - Hindawi KW - ER -