8 accepted papers
Powered knee prostheses based on continuous impedance control enable smooth and human-like joint behavior; however, practical tuning remains challenging due to the high dimensionality of impedance functions and subject-dependent variability. In this work, we propose a structured low-dimensional tuni
Achieving stable walking and proper assistance in prosthesis control requires synchronized control, treating the user and the prosthesis as a coupled system. Furthermore, speed adaptability is essential for controlling the prosthesis at different walking speeds. One approach involves using a phase v
The toe joint has been studied since it plays a critical role in human ambulation, such as stability, energy storage and propulsion. Despite its critical role, only a few studies have used and tested toe-jointed feet in powered prosthetic walking. In previous studies, we proposed 3D printable prosth
Phase variables are continuous real-valued functions which parameterize the gait cycle. As such, they can be used to estimate a powered prosthesis user's walking state. It is common to represent the phase variable as a function of the thigh angle. This approach assumes the thigh angle profile and it
The design of impedance controllers for sloped walking with a transfemoral prosthesis is a complex control problem that generally results in numerous tuning parameters. This study proposes an easy-to-tune sloped walking control scheme. While the ankle is controlled using impedance control, the knee…
Impedance controllers are popularly used in the field of lower limb prostheses and exoskeleton development. Such controllers assume the joint to be a spring-damper system described by a discrete set of equilibria and impedance parameters. These parameters are estimated via a least squares optimizati…
For amputees, walking on sloped surfaces is one of the most challenging tasks in their daily lives. Unfortunately, designing a prosthesis that can effectively adapt to varying terrain is an ongoing problem. In this paper, we propose a unified control scheme that enables a powered transfemoral prosth…
Powered transfemoral prostheses are robotic systems that aim to restore the mobility of transfemoral amputees by mimicking the functionalities of healthy human legs. The advantage of using a powered prosthetic device is the enhanced performance on various terrains. One of the most frequent terrain f…