Development and Online Validation of an Intrinsic Fault Detector for a Powered Robotic Knee Prosthesis

Amirreza Naseri,Ming Liu,I-Chieh Lee,Helen He Huang,Amirreza Naseri,Ming Liu,I-Chieh Lee,Helen He Huang

Robotic prosthetic legs have the potential to significantly improve the quality of life for lower limb amputees to perform locomotion in various environments and task conditions. However, these devices lack the capability to recover from internal intrinsic control faults, which can lead to harmful consequences affecting the user's gait performance and eroding trust in these robotic devices. Theref...