相关论文: A Clinical Tuning Framework for Continuous Kinemat…

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…

Although there has been recent progress in control of multi-joint prosthetic legs for rhythmic tasks such as walking, control of these systems for non-rhythmic motions and general real-world maneuvers is still an open problem. In this…

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…

Personalizing medical devices such as lower limb wearable robots is challenging. While the initial feasibility of automating the process of knee prosthesis control parameter tuning has been demonstrated in a principled way, the next…

Design of active orthosis is a challenging problem from both the dynamic simulation and control points of view. The redundancy problem of the simultaneous human-orthosis actuation is an interesting exercise to solve concerning the…

Automatically configuring a robotic prosthesis to fit its user's needs and physical conditions is a great technical challenge and a roadblock to the adoption of the technology. Previously, we have successfully developed reinforcement…

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…

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…

Human-machine interfaces (HMI) play a pivotal role in the rehabilitation and daily assistance of lower-limb amputees. The brain of such interfaces is a control model that detects the user's intention using sensor input and generates…

We address a state-of-the-art reinforcement learning (RL) control approach to automatically configure robotic prosthesis impedance parameters to enable end-to-end, continuous locomotion intended for transfemoral amputee subjects.…

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…

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…

Synergies have been adopted in prosthetic limb applications to reduce complexity of design, but typically involve a single synergy setting for a population and ignore individual preference or adaptation capacity. However, personalization of…

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…

Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…

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…

Powered ankle-foot prostheses can often reduce the energy cost of walking by assisting with push-off. However, focus on providing mechanical work may lead to ignoring or exacerbating common issues with chronic pain, irritation, pressure…

Powered prostheses are capable of providing net positive work to amputees and have advanced in the past two decades. However, reducing amputee metabolic cost of walking remains an open problem. The Law of Intersegmental Coordination (ISC)…

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…

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…