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Wearable acceleration sensor application in unilateral trans-tibial amputation prostheses

Kapti A. O., Muhurcu G.

Biocybernetics and Biomedical Engineering

2014

Vol. 34, no. 1

53--62

The availability of human walking gait data collected from the wearable acceleration sensors for trajectory control of an active artificial ankle joint in the unilateral trans-tibial prosthesis was investigated in this study. It is observed that the collected acceleration data can be used in the rulebased control of the prosthetic leg. A portable microprocessor-based data acquisition system, and data transfer module were designed for capturing the acceleration signals during walking. Flexionextension angle pattern of ankle joint was determined from acceleration signals of two tri-axial wearable accelerometers placed on the shank and foot segments. This pattern was utilized for control of the active artificial ankle joint in the trans-tibial prosthesis. This approach may have the potential of contributing the development of better prostheses.

A programmable inference controller meeting highest safety requirements

Vogrin P., Halang W. A.

Journal of Automation Mobile Robotics and Intelligent Systems

2010

Vol. 4, No. 1

8-19

A programmable controller suited for automation applications of highest safety criticality is presented. Its features are input conditioning by low-resolution analogue-to-digital converters, inference by look-up in rule set tables, strictly periodic and jitter-free operation, high speed and simplicity of design. A fail-safe supervisor immediately initiates an emergency shut-down in case of a malfunction. The software in form of rule base tables can easily be verified by inspection. This device is used to implement control algorithms working with set-point preprocessors, which calculate internal set-point graphs of controlled variables in such a way that very high controller gains are attainable and, thus, stability is increased. The performance of these „SPP” controllers is closer to the „best physically possible”, and much more predictable than the one of conventional control structures. The otherwise conficting design objectives stability, safety, high speed, small energy consumption, or steady and harmonic temporal controller output values can nearly all be achieved.

Adaptive control applied to parallel kinematic machines

Balan R., Maties V., Hancu O., Stan S.

Problemy Eksploatacji

2005

nr 2

201--210

In the paper, different approaches concerning the control of PKM (Parallel Kinematic Machines) are presented. The paper is focused on a Model Based Predictive Control (MBPC) type algorithm which uses on-line simulation and rule-based control. The efficiency and applicability of the proposed algorithm for a SISO motion system are demonstrated through applications.

W artykule przedstawiono różne podejścia dotyczące sterowania w maszynach o kinematyce równoległej. Autorzy prezentują algorytm typu Modelowe Sterowanie Predykcyjne, wykorzystujący symulację on-line i sterowanie oparte na regułach. Efektywność i możliwość zastosowania proponowanego algorytmu dla systemu ruchu SISO zostały zademonstrowane na przykładach.