Control of a Transfemoral Prosthesis on Sloped Terrain using Continuous and Nonlinear Impedance Parameters
Namita Anil Kumar,Woolim Hong,Pilwon Hur,Namita Anil Kumar,Woolim Hong,Pilwon Hur
The design of impedance controllers for sloped walking with a transfemoral prosthesis is a complex control problem that generally results in numerous tuning parameters. This study proposes an easy-to-tune sloped walking control scheme. While the ankle is controlled using impedance control, the knee is controlled using a hybrid strategy of impedance control and trajectory tracking. This study deriv...
