A Mode-Unified, Continuous, and Biomimetic Control Strategy of a Robotic Lower Limb Prosthesis
A Mode-Unified, Continuous, and Biomimetic Control Strategy of a Robotic Lower Limb Prosthesis
This research presents a mode-unified control framework for robotic lower-limb prostheses that represents knee and ankle biomechanics continuously as functions of terrain slope and gait phase.
The study demonstrates a unified control framework for lower-limb prostheses that adapts to terrain slopes up to 35 degrees using continuous biomechanical models, validated with experiments on 10 individuals showing high agreement in knee and ankle kinematics.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
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sing for gait-state estimation. Experiments with 10 individuals with transfemoral amputation demonstrated terrain-adaptive locomotion from level walking through ramps and stairs up to 35 degrees, including 13 degree ramp and 15 degree stair conditions absent from the underlying able-bodied (AB) dataset. Experimental results reproduced the principal slope-dependent biomechanical trends predicted by the unified model,
Open source S4
roducibility and further development, the biomechanics modeling and impedance parameterization code is publicly available at https://github.com/kim2576.
Open source S6
Source：arXiv Robotics — research abstracts · arxiv.org