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Title page for ETD etd-07242009-230741

Type of Document Dissertation
Author Varol, Huseyin Atakan
Author's Email Address atakan.varol@gmail.com
URN etd-07242009-230741
Title Supervisory control and intent recognition of a powered knee and ankle prosthesis
Degree PhD
Department Electrical Engineering
Advisory Committee
Advisor Name Title
MITCH WILKES Committee Co-Chair
GEORGE COOK Committee Member
NILANJAN SARKAR Committee Member
ROBERT WEBSTER Committee Member
  • Pattern Recognition
  • Machine Learning
  • Powered Prosthesis
  • Biomechatronics
  • Supervisory Control
Date of Defense 2009-07-21
Availability unrestricted
This work describes a control architecture and intent recognition approach for the real-time supervisory control of a powered lower limb prosthesis. The proposed approach infers user intent to stand, sit, or walk, by recognizing patterns in prosthesis sensor data in real-time, without the need for instrumentation of the sound-side leg. Specifically, the intent recognizer utilizes time-based features extracted from frames of prosthesis signals, which are subsequently reduced to a lower dimensionality (for computational efficiency). These data are initially used to train intent models, which classify the patterns as standing, sitting, or walking. The trained models are subsequently used to infer the user’s intent in real-time. The effectiveness of the proposed approach is demonstrated via experiments with a single unilateral amputee subject. Additionally, design of real-time slope and cadence estimators using sensors on the prosthesis is described. The extracted slope and cadence information is used to switch between different sets of controller parameters for walking on different slopes and speeds.
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