User Controlled Interface for Tuning Robotic Knee Prosthesis

Abbas Alili, Varun Nalam, Minhan Li, Ming Liu, Jennie Si, He Helen Huang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

The tuning process for a robotic prosthesis is a challenging and time-consuming task both for users and clinicians. An automatic tuning approach using reinforcement learning (RL) has been developed for a knee prosthesis to address the challenges of manual tuning methods. The algorithm tunes the optimal control parameters based on the provided knee joint profile that the prosthesis is expected to replicate during gait safely. This paper presents an intuitive interface designed for the prosthesis users and clinicians to choose the preferred knee joint profile during gait and use the autotuner to replicate in the prosthesis. The interface-based approach is validated by observing the ability of the tuning algorithm to successfully converge to various alternate knee profiles by testing on two able-bodied subjects walking with a robotic knee prosthesis. The algorithm was found to converge successfully in an average duration of 1.15 min for the first subject and 2.31 min for the second subject. Further, the subjects displayed different preferences for optimal profiles reinforcing the need to tune alternate profiles. The implications of the results in the tuning of robotic prosthetic devices are discussed.

Original languageEnglish (US)
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6190-6195
Number of pages6
ISBN (Electronic)9781665417143
DOIs
StatePublished - 2021
Externally publishedYes
Event2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021 - Prague, Czech Republic
Duration: Sep 27 2021Oct 1 2021

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Country/TerritoryCzech Republic
CityPrague
Period9/27/2110/1/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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