Jonathan A. Tittle — 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 ↗

2023

Calibration of a Tibia-Based Phase Variable for Control of Robotic Transtibial Prostheses

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

IROS 2023poster

Phase variable control based on global tibia kinematics holds promise for predicting gait cycle progression to continuously control robotic transtibial prostheses. Calibration of the phase variable is critical to ensure its monotonic behavior, to approach a linear relationship with gait percentage,…

Cited by 5 Source ↗Scholar ↗