Cara Gonzalez Welker

Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning

Although the average healthy adult transitions from sit to stand over 60 times per day, most research on powered prosthesis control has only focused on walking. In this paper, we present a data-driven controller that enables sitting, standing, and walking with minimal tuning. Our controller comprise…