Analysis of Continuously Varying Kinematics for Prosthetic Leg Control Applications.

ABSTRACT: Powered prosthetic legs can improve the quality of life for people with transfemoral amputations by providing net positive work at the knee and ankle, reducing the effort required from the wearer, and making more tasks possible. However, the controllers for these devices use finite state machines that limit their use to a small set of pre-defined tasks that require many hours of tuning for each user. In previous work, we demonstrated that a continuous parameterization of joint kinematics over walking speeds and inclines provides more accurate predictions of reference kinematics for control than a finite state machine. However, our previous work did not account for measurement errors in gait phase, walking speed, and ground incline, nor subject-specific differences in reference kinematics,

SUBMITTER: Embry KR 

PROVIDER: S-EPMC7920935 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature