Walking Cycle Control for an Active Ankle Prosthesis with One Degree of Freedom Monitored from a Personal Computer

Andres Esteban Guzhñay Cordero; Luis Alfredo Calle Arevalo; Julio Cesar Zambrano Abad

doi:10.1109/EMBC.2015.7319184

Walking Cycle Control for an Active Ankle Prosthesis with One Degree of Freedom Monitored from a Personal Computer

Andres Esteban Guzhñay Cordero, Luis Alfredo Calle Arevalo, Julio Cesar Zambrano Abad

Research output: Contribution to conference › Paper

Abstract

This paper proposes a fuzzy control algorithm for human walking cycle of an active ankle prosthesis for people who have suffered amputation of the lower limb, the system hasone degree of freedom in the sagittal plane. Also, a biomechanical analysis of foot and ankle is shown to define the phases of plantar support and swinging. The used actuator is an intelligent servomotor, Dynamixel MX-106T which has torque, current and position feedback, among others, allowing real-time telemetry of the prototype implemented in a microcontroller system.

Translated title of the contribution	Control del ciclo de marcha de una prótesis activa de tobillo con un grado de libertad monitorizado desde un ordenador personal
Original language	English (US)
DOIs	https://doi.org/10.1109/EMBC.2015.7319184
State	Published - 31 Dec 2015
Event	2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015) - IT Duration: 25 Aug 2015 → 29 Aug 2015 http://embc.embs.org/2015/splash/

Conference

Conference	2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015)
Period	25/08/15 → 29/08/15
Internet address	http://embc.embs.org/2015/splash/

Keywords

Ankle prosthesis
Freedom monitored
Personal computer
Walking

CACES Knowledge Areas

417A Electronics, Automation and Sound

Access to Document

10.1109/EMBC.2015.7319184

Cite this

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title = "Walking Cycle Control for an Active Ankle Prosthesis with One Degree of Freedom Monitored from a Personal Computer",

abstract = "This paper proposes a fuzzy control algorithm for human walking cycle of an active ankle prosthesis for people who have suffered amputation of the lower limb, the system hasone degree of freedom in the sagittal plane. Also, a biomechanical analysis of foot and ankle is shown to define the phases of plantar support and swinging. The used actuator is an intelligent servomotor, Dynamixel MX-106T which has torque, current and position feedback, among others, allowing real-time telemetry of the prototype implemented in a microcontroller system.",

keywords = "Ankle prosthesis, Freedom monitored, Personal computer, Walking, Ankle prosthesis, Freedom monitored, Personal computer, Walking",

author = "{Guzh{\~n}ay Cordero}, {Andres Esteban} and {Calle Arevalo}, {Luis Alfredo} and {Zambrano Abad}, {Julio Cesar}",

year = "2015",

month = dec,

day = "31",

doi = "10.1109/EMBC.2015.7319184",

language = "English (US)",

note = "2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015) ; Conference date: 25-08-2015 Through 29-08-2015",

url = "http://embc.embs.org/2015/splash/",

}

Guzhñay Cordero, AE, Calle Arevalo, LA & Zambrano Abad, JC 2015, 'Walking Cycle Control for an Active Ankle Prosthesis with One Degree of Freedom Monitored from a Personal Computer', Paper presented at 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015), 25/08/15 - 29/08/15. https://doi.org/10.1109/EMBC.2015.7319184

Walking Cycle Control for an Active Ankle Prosthesis with One Degree of Freedom Monitored from a Personal Computer. / Guzhñay Cordero, Andres Esteban; Calle Arevalo, Luis Alfredo ; Zambrano Abad, Julio Cesar.
2015. Paper presented at 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015).

Research output: Contribution to conference › Paper

TY - CONF

T1 - Walking Cycle Control for an Active Ankle Prosthesis with One Degree of Freedom Monitored from a Personal Computer

AU - Guzhñay Cordero, Andres Esteban

AU - Calle Arevalo, Luis Alfredo

AU - Zambrano Abad, Julio Cesar

PY - 2015/12/31

Y1 - 2015/12/31

N2 - This paper proposes a fuzzy control algorithm for human walking cycle of an active ankle prosthesis for people who have suffered amputation of the lower limb, the system hasone degree of freedom in the sagittal plane. Also, a biomechanical analysis of foot and ankle is shown to define the phases of plantar support and swinging. The used actuator is an intelligent servomotor, Dynamixel MX-106T which has torque, current and position feedback, among others, allowing real-time telemetry of the prototype implemented in a microcontroller system.

AB - This paper proposes a fuzzy control algorithm for human walking cycle of an active ankle prosthesis for people who have suffered amputation of the lower limb, the system hasone degree of freedom in the sagittal plane. Also, a biomechanical analysis of foot and ankle is shown to define the phases of plantar support and swinging. The used actuator is an intelligent servomotor, Dynamixel MX-106T which has torque, current and position feedback, among others, allowing real-time telemetry of the prototype implemented in a microcontroller system.

KW - Ankle prosthesis

KW - Freedom monitored

KW - Personal computer

KW - Walking

KW - Ankle prosthesis

KW - Freedom monitored

KW - Personal computer

KW - Walking

UR - https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7319184

U2 - 10.1109/EMBC.2015.7319184

DO - 10.1109/EMBC.2015.7319184

M3 - Paper

T2 - 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015)

Y2 - 25 August 2015 through 29 August 2015

ER -

Walking Cycle Control for an Active Ankle Prosthesis with One Degree of Freedom Monitored from a Personal Computer

Abstract

Conference

Keywords

CACES Knowledge Areas

Access to Document

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