Control strategies for active lower extremity prosthetics and orthotics: a review
Technological advancements have led to the development of numerous wearable robotic
devices for the physical assistance and restoration of human locomotion. While many …
devices for the physical assistance and restoration of human locomotion. While many …
Toward higher-performance bionic limbs for wider clinical use
Most prosthetic limbs can autonomously move with dexterity, yet they are not perceived by
the user as belonging to their own body. Robotic limbs can convey information about the …
the user as belonging to their own body. Robotic limbs can convey information about the …
A review of current state-of-the-art control methods for lower-limb powered prostheses
Lower-limb prostheses aim to restore ambulatory function for individuals with lower-limb
amputations. While the design of lower-limb prostheses is important, this paper focuses on …
amputations. While the design of lower-limb prostheses is important, this paper focuses on …
Design and clinical implementation of an open-source bionic leg
In individuals with lower-limb amputations, robotic prostheses can increase walking speed,
and reduce energy use, the incidence of falls and the development of secondary …
and reduce energy use, the incidence of falls and the development of secondary …
Design and validation of a powered knee–ankle prosthesis with high-torque, low-impedance actuators
In this article, we present the design of a powered knee-ankle prosthetic leg, which
implements high-torque actuators with low-reduction transmissions. The transmission …
implements high-torque actuators with low-reduction transmissions. The transmission …
On human-in-the-loop optimization of human–robot interaction
From industrial exoskeletons to implantable medical devices, robots that interact closely with
people are poised to improve every aspect of our lives. Yet designing these systems is very …
people are poised to improve every aspect of our lives. Yet designing these systems is very …
Continuous-phase control of a powered knee–ankle prosthesis: Amputee experiments across speeds and inclines
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 …
periods with distinct controllers, resulting in dozens of control parameters that must be tuned …
Online reinforcement learning control for the personalization of a robotic knee prosthesis
Robotic prostheses deliver greater function than passive prostheses, but we face the
challenge of tuning a large number of control parameters in order to personalize the device …
challenge of tuning a large number of control parameters in order to personalize the device …
Data-driven variable impedance control of a powered knee–ankle prosthesis for adaptive speed and incline walking
Most impedance-based walking controllers for powered knee–ankle prostheses use a finite
state machine with dozens of user-specific parameters that require manual tuning by …
state machine with dozens of user-specific parameters that require manual tuning by …
Design, development, and testing of a lightweight hybrid robotic knee prosthesis
We present a lightweight robotic knee prosthesis with a novel hybrid actuation system that
enables passive and active operation modes. The proposed hybrid knee uses a spring …
enables passive and active operation modes. The proposed hybrid knee uses a spring …