2019
Robust and Adaptive Lower Limb Prosthesis Stance Control via Extended Kalman Filter-Based Gait Phase Estimation
RA-L 2019
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