Ontology highlight
ABSTRACT:
SUBMITTER: Rezazadeh S
PROVIDER: S-EPMC6368100 | biostudies-literature | 2018 Oct
REPOSITORIES: biostudies-literature
Rezazadeh Siavash S Quintero David D Divekar Nikhil N Gregg Robert D RD
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems 20181001
Although there has been recent progress in control of multi-joint prosthetic legs for periodic tasks such as walking, volitional control of these systems for non-periodic maneuvers is still an open problem. In this paper, we develop a new controller that is capable of both periodic walking and common volitional leg motions based on a piecewise holonomic phase variable through a finite state machine. The phase variable is constructed by measuring the thigh angle, and the transitions in the finite ...[more]