相关论文: A Phase Variable Approach for Improved Rhythmic an…

Gait phase-based control is a trending research topic for walking-aid robots, especially robotic lower-limb prostheses. Gait phase estimation is a challenge for gait phase-based control. Previous researches used the integration or the…

Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…

Positive biomechanical outcomes have been reported with lower-limb exoskeletons in laboratory settings, but these devices have difficulty delivering appropriate assistance in synchrony with human gait as the task or rate of phase…

Walking on compliant terrain presents a substantial challenge for individuals with lower-limb amputation, further elevating their already high risk of falling. While powered ankle-foot prostheses have demonstrated adaptability across speeds…

Lower-limb prosthesis wearers are more prone to falling than non-amputees. Powered prostheses can reduce this instability of passive prostheses. While shown to be more stable in practice, powered prostheses generally use model-independent…

For robotic transtibial prosthesis control, the global kinematics of the tibia can be used to monitor the progression of the gait cycle and command smooth and continuous actuation. In this work, these global tibia kinematics are used to…

Impedance-based control represents a prevalent strategy in the powered trans femoral prostheses because of its ability to reproduce natural walking. However, most existing studies have developed impedance-based prosthesis controllers for…

Nonlinear control methodologies have successfully realized stable human-like walking on powered prostheses. However, these methods are typically restricted to model independent controllers due to the unknown human dynamics acting on the…

Configuring a prosthetic leg is an integral part of the fitting process, but the personalization of a multi-modal powered knee-ankle prosthesis is often too complex to realize in a clinical environment. This paper develops both the…

This paper proposes a data-driven method for powered prosthesis control that achieves stable walking without the need for additional sensors on the human. The key idea is to extract the nominal gait and the human interaction information…

This survey paper concerns Sensor Fusion for Predictive Control of Human-Prosthesis-Environment Dynamics in Assistive Walking. The powered lower limb prosthesis can imitate the human limb motion and help amputees to recover the walking…

Previous research has shown that the effective use of inertial motion (i.e., less or no torque input at the knee joint) plays an important role in achieving a smooth gait of transfemoral prostheses in the swing phase. In our previous…

Environment awareness is crucial for enhancing walking safety and stability of amputee wearing powered prosthesis when crossing uneven terrains such as stairs and obstacles. However, existing environmental perception systems for prosthesis…

Achieving stable bipedal walking on surfaces with unknown motion remains a challenging control problem due to the hybrid, time-varying, partially unknown dynamics of the robot and the difficulty of accurate state and surface motion…

We address the challenge of effectively controlling the locomotion of legged robots by incorporating precise frequency and phase characteristics, which is often ignored in locomotion policies that do not account for the periodic nature of…

Building robotic prostheses requires a sensor-based interface designed to provide the robotic hand with the control required to perform hand gestures. Traditional Electromyography (EMG) based prosthetics and emerging alternatives often face…

The stability of standing in humans is a complex process that leads to maintaining the upright position against external disturbances. Balance control during standing is of vital importance for humans in daily life. An issue that is still…

Existing robotic lower-limb prostheses use autonomous control to address cyclic, locomotive tasks, but they are inadequate to operate the prosthesis for daily activities that are non-cyclic and unpredictable. To address this challenge, this…

Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…

For amputees with powered transfemoral prosthetics, navigating obstacles or complex terrain remains challenging. This study addresses this issue by using an inertial sensor on the sound ankle to guide obstacle-crossing movements. A genetic…