David J. Kelly — accepted AI-conference papers

2024

Hybrid Volitional Control of a Robotic Transtibial Prosthesis using a Phase Variable Impedance Controller

Ryan R. Posh, Jonathan A. Tittle, David J. Kelly, James P. Schmiedeler, Patrick M. Wensing

ICRA 2024poster

For robotic transtibial prosthesis control, the global tibia kinematics can be used to monitor gait cycle progression and command smooth and continuous actuation. In this work, these global tibia kinematics define a phase variable impedance controller (PVIC), which is implemented as the nonvolitiona…

Cited by 6 Source ↗Scholar ↗

2024

Task-space Control of a Powered Ankle Prosthesis

David J. Kelly, Ryan R. Posh, Patrick M. Wensing

ICRA 2024poster

Powered lower-limb prostheses have shown promise in helping individuals with amputation regain functionality that passive prostheses cannot provide. However, the best method for controlling these devices in coordination with their users is still an open research topic. While powered devices can repl…

Cited by 2 Source ↗Scholar ↗