Ontology highlight
ABSTRACT:
SUBMITTER: Quintero D
PROVIDER: S-EPMC6042879 | biostudies-literature | 2018 Jun
REPOSITORIES: biostudies-literature
Quintero David D Villarreal Dario J DJ Lambert Daniel J DJ Kapp Susan S Gregg Robert D RD
IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society 20180227 3
Control systems for powered prosthetic legs typically divide the gait cycle into several periods with distinct controllers, resulting in dozens of control parameters that must be tuned across users and activities. To address this challenge, this paper presents a control approach that unifies the gait cycle of a powered knee-ankle prosthesis using a continuous, user-synchronized sense of phase. Virtual constraints characterize the desired periodic joint trajectories as functions of a phase variab ...[more]