Design and Control of an Active Powered Knee Prosthesis System using Position-based Impedance Control
Bibliographic record
Abstract
In this paper, we deal with the implementation of an active powered knee prosthesis using the position-based impedance control. We propose a new mechanical structure for the knee prosthesis such that convenience of the maintenance is much improved and the noise seen in the load cell measurement, caused by a motor, is greatly removed. We develop the embedded system based on a 32-bit digital signal controller and make the standalone operation without tethering possible by attaching the developed embedded system on the prosthesis. We divide the walking cycle into 5 stages and control the prosthesis such that it has different mechanical impedance depending on the stages. For efficient control of the impedance, we firstly derive the relationship between the knee angle and the torque applied on the knee and then propose the position-based impedance controller for the knee prosthesis. We evaluate the walking performance of the knee prosthesis through experiments including level walking and inclined walking. We also analyze the features of the proposed knee prosthesis by comparing the walking data of the proposed prosthesis with normal walking data.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".