We discuss open-loop control development and simulation results for a newly-developed cyber-physical system (CPS) used as a semi-active, above-knee prosthesis. The control signal of our CPS consists of two hydraulic valve settings that control a linear cylinder actuator and provide torque to the prosthetic knee. We develop open-loop control using biogeography-based optimization (BBO), which is a recently developed evolutionary algorithm. The research contributes to the field of cyber-physical systems by showing that it is possible to find effective open-loop control signals for our newly proposed semi-active hydraulic knee prosthesis through a dual-system optimization process which includes both human and robot control search parameters.
Biogeography-Based Optimization for Hydraulic Prosthetic Knee ControlMedical Cyber-Physical Systems Workshop
Document TypeConference Proceeding
Publisher's StatementOpen Access
Citation InformationT. Wilmot, G. Thomas, B. Montavon, R. Rarick, A. van den Bogert, S. Szatmary, D. Simon, W. Smith, and S. Samorezov, Biogeography-Based Optimization for Hydraulic Prosthetic Knee Control, Medical Cyber-Physical Systems Workshop, Philadelphia, Pennsylvania, pp. 18-25, April 2013.