A Neural Network-Based Controller Towards Achieving Near-Natural Gait in Transfemoral Amputees

Zunaed Kibria, Sesh Commuri

2024

Abstract

Achieving proper post-amputation mobility in an individual is extremely important to ensure the health of the residual limb and the quality of life of an individual. Traditionally, prosthetic limbs were designed to primarily support the weight of the individual and replicate the look and feel of the natural limb. Powered prosthetic devices are typically based on classical control and cannot adapt to changing user requirements. A critical challenge in controller design is that, unlike tracking controllers, the desired trajectory for the prosthetic joint is unknown. Improper control can lead to asymmetry in the gait of intact and amputated sides, which in turn can have adverse health consequences. In this paper, an intelligent controller for above-knee prosthesis is proposed that can generate pseudo-trajectories for the joints, learn the dynamics of the prosthetic limb in real-time, and track these pseudo-trajectories to reduce the asymmetry in gait between the intact and amputated side. Mathematical analysis shows that the method is stable and can adapt to changing user gaits. Numerical simulations and Monte Carlo analysis show that the performance of the controller is robust to variations in dynamics and user requirements, and results in near-natural gait for the individual.

Paper Citation

in Harvard Style

Kibria Z. and Commuri S. (2024). A Neural Network-Based Controller Towards Achieving Near-Natural Gait in Transfemoral Amputees. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 201-208. DOI: 10.5220/0012888700003822

in Bibtex Style

@conference{icinco24,
author={Zunaed Kibria and Sesh Commuri},
title={A Neural Network-Based Controller Towards Achieving Near-Natural Gait in Transfemoral Amputees},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={201-208},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012888700003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - A Neural Network-Based Controller Towards Achieving Near-Natural Gait in Transfemoral Amputees
SN - 978-989-758-717-7
AU - Kibria Z.
AU - Commuri S.
PY - 2024
SP - 201
EP - 208
DO - 10.5220/0012888700003822
PB - SciTePress