Towards a Unified Approach for Continuously-Variable Impedance Control of Powered Prosthetic Legs over Walking Speeds and Inclines.

ABSTRACT: Research in powered prosthesis control has explored the use of impedance-based control algorithms due to their biomimetic capabilities and intuitive structure. Modern impedance controllers feature parameters that smoothly vary over gait phase and task according to a data-driven model. However, these recent efforts only use continuous impedance control during stance and instead utilize discrete transition logic to switch to kinematic control during swing, necessitating two separate models for the different parts of the stride. In contrast, this paper presents a controller that uses smooth impedance parameter trajectories throughout the gait, unifying the stance and swing periods under a single, continuous model. Furthermore, this paper proposes a basis model to represent intertask relations

SUBMITTER: Lee AJ 

PROVIDER: S-EPMC11426229 | biostudies-literature | 2024 May

REPOSITORIES: biostudies-literature