Control Framework for Sloped Walking With a Powered Transfemoral Prosthesis.

ABSTRACT: User customization of a lower-limb powered Prosthesis controller remains a challenge to this date. Controllers adopting impedance control strategies mandate tedious tuning for every joint, terrain condition, and user. Moreover, no relationship is known to exist between the joint control parameters and the slope condition. We present a control framework composed of impedance control and trajectory tracking, with the transitioning between the two strategies facilitated by Bezier curves. The impedance (stiffness and damping) functions vary as polynomials during the stance phase for both the knee and ankle. These functions were derived through least squares optimization with healthy human sloped walking data. The functions derived for each slope condition were simplified using principal compon

SUBMITTER: Anil Kumar N 

PROVIDER: S-EPMC8786733 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature