CSU/CCF Leg Prosthesis Test Robot

Profs. Hanz Richter and Ton van den Bogert, Mechanical Engineering Dept.
Prof. Dan Simon, Electrical Engineering Dept.


This page will be a repository of information related the robotic test rig developed at CSU.

 

Lab report on modeling and basic control

Video of the robot testing a normal walk profile on a passive Mauch prosthesis

Impedance control: learning experiment - Hadis Mohammadi


Project-related publications:


H. Warner, H. Mohammadi, and H. Richter. Switched robust tracking/impedance control for an active transfemoral prosthesis. In Proceedings of the 2016 American Control Conference (submitted).

S. Fakoorian, D. Simon, H. Richter, and V. Azimi. Ground reaction force estimation in prosthetic legs with an extended Kalman filter. In Proceedings of the 2016 IEEE Systems Conference (submitted).

D. Ebeigbe, D. Simon, and H. Richter. Hybrid function approximation based control with application to prosthetic legs. In Proceedings of the 2016 IEEE Systems Conference (submitted).

H. Richter and D. Simon. Robust tracking control of a prosthesis test robot. ASME Journal of Dynamic Systems, Measurements and Control, 136(3), 2014. [ DOI ]

H. Richter, D. Simon, W. Smith, and S. Samorezov. Dynamic modeling and parameter estimation of a leg prosthesis test robot. Applied Mathematical Modelling, 39(2):559--573, 2014.

P. Khalaf, H. Richter, A. van den Bogert, and D. Simon. Multi-objective optimization of impedance parameters in a prosthesis test robot. In Proceedings of the 2015 ASME Dynamic Systems and Control Conference (to be presented).

V. Azimi, D. Simon, and H. Richter. Stable robust adaptive impedance control of a prosthetic leg. In Proceedings of the 2015 ASME Dynamic Systems and Control Conference (to be presented).

Hadis Mohammadi and H. Richter. Robust tracking-impedance control: Application to prosthetics. In 2015 American Control Conference,Chicago, 2015.

R. Davis, H. Richter, D. Simon, and A. van den Bogert. Evolutionary ground reaction force optimization of a prosthetic leg testing robot. In American Control Conference,Portland, Oregon, pages 4081--4086, 2014. [ DOI ]

R. Rarick, H. Richter, D. van den Bogert, D. Simon, H. Warner, and T. Barto. Optimal design of a transfemoral prosthesis with energy storage and regeneration. In Proc. American Control Conference, Portland, Oregon, pages 4108--4113, 2014. [ DOI ]

H. Richter, D. Simon, and A. van den Bogert. Semiactive virtual control method for robots with regenerative energy-storing joints. In Proc. 19th IFAC World Congress, Cape Town, South Africa, pages 10244--10250, 2014. [ DOI ]