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 technical experts. These are only appropriate near the task (

Most controllers for lower-limb robotic prostheses require individually tuned parameter sets every combination of speed and incline that the device is designed for. Because ambulation occurs over a continuum speeds inclines, this design paradigm requires tuning potentially prohibitively large number parameters. This limitation motivates an alternative control framework enables walking range inclines while requiring only limited tunable In work, we present implementation continuously varying...

Passive prostheses cannot provide the net positive work required at knee and ankle for step-over stair ascent. Powered can this work, but user synchronization of joint motion power input are critical to enabling natural ascent gaits. In we build on previous phase variable-based control methods walking propose a controller driven by user's residual thigh. We use reference kinematics from an able-bodied dataset produce trajectories parameterized gait phase. redefine cycle begin point maximum...

For powered prosthetic legs to be viable in everyday situations, they require an activity classification system that is not only accurate but also straightforward understand and use. However, incorporating the numerous modes real-world ambulation often requires high-dimensional feature spaces restrictions on leg leading each transition. This paper addresses these challenges by delegating sit/stand transitions variable-incline walking mid-level controller, effectively reducing space four...

Although the average healthy adult transitions from sit to stand over 60 times per day, most research on powered prosthesis control has only focused walking. In this paper, we present a data-driven controller that enables sitting, standing, and walking with minimal tuning. Our comprises two high level modes of sit/stand walking, develop heuristic biomechanical rules transitions. We use phase variable based user's thigh angle parameterize both motions, impedance during ground contact position...

Individuals using passive prostheses typically rely heavily on their biological limb to complete sitting and standing tasks, leading slower completion times increased rates of osteoarthritis lower back pain. Powered can address these challenges, but have control methods that divide sit-stand transitions into discrete phases, limiting user synchronization across the motion requiring long manual tuning times. This paper extends our preliminary work a thigh-based phase variable parameterize...

Powered knee-ankle prostheses can offer benefits over conventional passive devices during stair locomotion by providing biomimetic net-positive work and active control of joint angles. However, many modern approaches for ascent descent are often limited time-consuming hand-tuning user/task-specific parameters, predefined trajectories that remove user volition, or heuristic cannot be applied to both descent. This presents a phase-based hybrid kinematic impedance controller (HKIC) allows...

Robotic knee-ankle prostheses have often fallen short relative to passive microprocessor in time-based clinical outcome tests. User ambulation endurance is an alternative metric that may better highlight the benefits of robotic prostheses. However, previous studies were unable show due inaccurate high-level classification, discretized mid-level control, and insufficiently difficult tasks. In this case study, we present a phase-based prosthesis controller which yields biomimetic joint...

<p>Powered knee-ankle prostheses can offer benefits over conventional passive devices during stair locomotion by providing biomimetic net-positive work and active control of joint angles. However, many modern approaches for ascent descent are often limited time-consuming hand-tuning user/task-specific parameters, predefined trajectories that remove user volition, or heuristic cannot be applied to both descent. This presents a phase-based hybrid kinematic impedance controller (HKIC)...

<p> © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing advertising promotional purposes, creating new collective works, resale redistribution to servers lists, reuse copyrighted component work works. </p> <p><br></p> DOI (identifier) 10.1109/TRO.2022.3226887 <p>Abstract:</p> <p>Most impedance-based walking...

<p>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 technical experts. These are only appropriate near the task (e.g. speed and incline) at which they were tuned, necessitating many different parameter sets variable-task walking. In contrast, this paper presents data-driven, phase-based controller uses continuously-variable impedance control during stance kinematic...

Individuals using passive prostheses typically rely heavily on their biological limb to complete sitting and standing tasks, leading slower completion times increased rates of osteoarthritis lower back pain. Powered can address these challenges, but have control methods that divide sit-stand transitions into discrete phases, limiting user synchronization across the motion requiring long manual tuning times. This paper extends our preliminary work a thigh-based phase variable parameterize...

<div>Most impedance-based walking controllers use a finite state machine (FSM) with dozens of user-specific parameters that need to be manually tuned by technical experts. These are only optimal near the task (\eg speed and incline) at which they were tuned, resulting in decreased performance as inevitably varies. This paper presents tuning-free, phase-based controller uses hybrid combination continuously-variable impedance control during stance kinematic swing enable biomimetic...

Individuals using passive prostheses typically rely heavily on their biological limb to complete sitting and standing tasks, leading slower completion times increased rates of osteoarthritis lower back pain. Powered can address these challenges, but have control methods that divide sit-stand transitions into discrete phases, limiting user synchronization across the motion requiring long manual tuning times. This paper extends our preliminary work a thigh-based phase variable parameterize...

Research in powered prosthesis control has explored the use of impedance-based algorithms due to their biomimetic capabilities and intuitive structure. Modern impedance controllers feature parameters that smoothly vary over gait phase task according a data-driven model. However, these recent efforts only continuous during stance instead utilize discrete transition logic switch kinematic swing, necessitating two separate models for different parts stride. In contrast, this paper presents...

Objective: Configuring a prosthetic leg is an integral part of the fitting process, but personalization multi-modal powered knee-ankle prosthesis often too complex to realize in clinical environment. This paper develops both technical means individualize hybrid kinematic-impedance controller for variable-incline walking and sit-stand transitions, intuitive Clinical Tuning Interface (CTI) that allows prosthetists directly modify behavior. Methods: Utilizing established method predicting...

<p>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 technical experts. These are only appropriate near the task (e.g. speed and incline) at which they were tuned, necessitating many different parameter sets variable-task walking. In contrast, this paper presents data-driven, phase-based controller uses continuously-variable impedance control during stance kinematic...

<p>Individuals using passive prostheses typically rely heavily on their biological limb to complete sitting and standing tasks, leading slower completion times increased rates of osteoarthritis lower back pain. Powered can address these challenges, but have control methods that divide sit-stand transitions into discrete phases, limiting user synchronization across the motion requiring long manual tuning times. This paper extends our preliminary work a thigh-based phase variable...

<p>Individuals using passive prostheses typically rely heavily on their biological limb to complete sitting and standing tasks, leading slower completion times increased rates of osteoarthritis lower back pain. Powered can address these challenges, but have control methods that divide sit-stand transitions into discrete phases, limiting user synchronization across the motion requiring long manual tuning times. This paper extends our preliminary work a thigh-based phase variable...

<p>Powered knee-ankle prostheses can offer benefits over conventional passive devices during stair locomotion by providing biomimetic net-positive work and active control of joint angles. However, many modern approaches for ascent descent are often limited time-consuming hand-tuning user/task-specific parameters, predefined trajectories that remove user volition, or heuristic cannot be applied to both descent. This presents a phase-based hybrid kinematic impedance controller (HKIC)...

<p> © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing advertising promotional purposes, creating new collective works, resale redistribution to servers lists, reuse copyrighted component work works. </p> <p><br></p> DOI (identifier) 10.1109/TRO.2022.3226887 <p>Abstract:</p> <p>Most impedance-based walking...