5 accepted papers
Avoiding obstacles poses a significant challenge for amputees using mechanically-passive transfemoral prosthetic limbs due to their lack of direct knee control. In contrast, powered prostheses can potentially improve obstacle avoidance via their ability to add energy to the system. In past work, res…
This paper presents a real-time reactive controller for a powered prosthesis that addresses the problem of trip avoidance. The control estimates the pose of the leg during swing with an extended Kalman filter, predicts future hip angles and hip heights using sparse Gaussian Processes, and reactively…
We present a control strategy for powered prostheses based on a robust estimate of the gait phase that is used to determine appropriate control actions. We use an extended Kalman filter (EKF) that fuses joint angle and velocity measurements to estimate the gait phase, which we define in this work to
We propose a method for optimizing control policies for assistive lower-limb devices. The method frames parameter selection as a dueling bandits problem in which a user indicates his or her qualitative preferences between pairs of parameter sets chosen from a library. We generate the library through…
We present a new algorithm for optimizing control policies for human-in-the-loop systems based on qualitative preference feedback. This method is especially applicable to systems such as lower limb prostheses and exoskeletons for which it is difficult to define an objective function, hard to identif