Medical Cyber-Physical Systems Workshop
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.
Wilmot, Tim; Thomas, George; Montavon, Berney; Rarick, Rick; van den Bogert, Antonie J.; Szatmary, Steve; Simon, Daniel J.; Smith, William; and Samorezov, Sergey, "Biogeography-Based Optimization for Hydraulic Prosthetic Knee Control" (2013). Electrical Engineering & Computer Science Faculty Publications. 223.
T. 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.