Title:
Adaptive CPG based coordinated control of healthy and robotics lower limb movement
Adaptive CPG based coordinated control of healthy and robotics lower limb movement
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Author(s)
Ryu, Jae-Kwan
Chong, Nak Young
You, Bum Jae
Christensen, Henrik I.
Chong, Nak Young
You, Bum Jae
Christensen, Henrik I.
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Abstract
This paper proposes an adaptive CPG based
controller for a lower limb prosthesis consisting of online
trajectory generation and interlimb coordination. The adaptive
CPG can produce multidimensional rhythmic patterns and
modulate their frequency by tuning relevant parameters in
an autonomously way adapting to a changing periodicity of
external signals. Also, to increase the stability of the prosthesis,
a spring-damper component is attached between the
hip and ankle joints, allowing the absorption of impulsive
ground reaction forces at landing. We verify the validity of the
proposed controller with a simulated humanoid robot through
the investigation of the self-coordination between the healthy
and robotic legs.
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Date Issued
2009-09
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Article