2016
An energy-efficient torque controller based on passive dynamics of human locomotion for a robotic transtibial prosthesis
ICRA 2016
During early and middle stance of level-ground walking, the ankle joint usually rotates passively due to the locomotion of human body. Based on this passive dynamics of human locomotion, we develop an energy-efficient torque controller with hierarchical structure for a robotic prosthesis. The low-le