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 …
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 …
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 …
Lower-limb kinematics and kinetics during continuously varying human locomotion
Human locomotion involves continuously variable activities including walking, running, and
stair climbing over a range of speeds and inclinations as well as sit-stand, walk-run, and …
stair climbing over a range of speeds and inclinations as well as sit-stand, walk-run, and …
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 …
How the CYBATHLON competition has advanced assistive technologies
L Jaeger, RS Baptista, C Basla… - Annual Review of …, 2023 - annualreviews.org
Approximately 1.1. billion people worldwide live with some form of disability, and assistive
technology has the potential to increase their overall quality of life. However, the end users' …
technology has the potential to increase their overall quality of life. However, the end users' …
Modeling and stiffness-based continuous torque control of lightweight quasi-direct-drive knee exoskeletons for versatile walking assistance
State-of-the-art exoskeletons are typically limited by the low control bandwidth and small-
range stiffness of actuators, which are based on high gear ratios and elastic components …
range stiffness of actuators, which are based on high gear ratios and elastic components …
Feedback control of an exoskeleton for paraplegics: Toward robustly stable, hands-free dynamic walking
" I will never forget the emotion of my first steps […]," were the words of Fran? oise, the first
user during initial trials of the exoskeleton ATALANTE [1]." I am tall again!" were the words of …
user during initial trials of the exoskeleton ATALANTE [1]." I am tall again!" were the words of …