Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning
Cara Gonzalez Welker,T. Kevin Best,Robert D. Gregg,Cara Gonzalez Welker,T. Kevin Best,Robert D. Gregg
Although the average healthy adult transitions from sit to stand over 60 times per day, most research on powered prosthesis control has only focused on walking. In this paper, we present a data-driven controller that enables sitting, standing, and walking with minimal tuning. Our controller comprises two high level modes of sit/stand and walking, and we develop heuristic biomechanical rules to con...
