Isaac Richard Harris

A Control Framework for Accurate Mechanical Impedance Rendering With Series-Elastic Joints in Prosthetic Actuation Applications

In addition to lifting up the body during gait, human legs provide stabilizing torques that can be modeled as a spring-damper mechanical impedance. While powered prosthetic leg actuators can also imitate spring-damper behaviors, the rendered impedance can be quite different from the desired impedanc