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Authors: Zunaed Kibria and Sesh Commuri

Affiliation: Electrical and Biomedical Department, University of Nevada - Reno, Reno, Nevada, U.S.A.

Keyword(s): Neuro-dynamic Control, Prosthetic Leg, Gait Asymmetry.

Abstract: The control of a prosthetic leg for above-knee amputees is fraught with several challenges. While the dynamics of the knee-ankle system are complex and unknown, the control problem is exacerbated by the lack of desired joint trajectories as they are dictated by the locomotion needs of the individual. Improper movement of the knee and ankle joints can have serious implications for the safety of the user. Further, dissimilarities in the gait of the amputated side and the intact side can result in gait abnormalities that result in increased metabolic energy consumption and musculo-skeletal pains in the short term, and cardiovascular and other health complications in the long term. In this paper, we propose a novel neuro-dynamic control strategy that can guarantee stable control of the prosthetic limb while minimizing the gait asymmetry between the intact and prosthetic limb. Further, the algorithm learns the unknown elements of the dynamics and adapts to the changing locomotion needs of the individual. The efficacy of the proposed approach is demonstrated through numerical simulations. (More)

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Paper citation in several formats:
Kibria, Z. and Commuri, S. (2022). Neuro-dynamic Control of an above Knee Prosthetic Leg. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-585-2; ISSN 2184-2809, SciTePress, pages 29-37. DOI: 10.5220/0011268200003271

@conference{icinco22,
author={Zunaed Kibria. and Sesh Commuri.},
title={Neuro-dynamic Control of an above Knee Prosthetic Leg},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2022},
pages={29-37},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011268200003271},
isbn={978-989-758-585-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Neuro-dynamic Control of an above Knee Prosthetic Leg
SN - 978-989-758-585-2
IS - 2184-2809
AU - Kibria, Z.
AU - Commuri, S.
PY - 2022
SP - 29
EP - 37
DO - 10.5220/0011268200003271
PB - SciTePress

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