Hybrid Volitional Control of a Robotic Transtibial Prosthesis using a Phase Variable Impedance Controller

Ryan R. Posh,Jonathan A. Tittle,David J. Kelly,James P. Schmiedeler,Patrick M. Wensing,Ryan R. Posh,Jonathan A. Tittle,David J. Kelly,James P. Schmiedeler,Patrick M. Wensing

For robotic transtibial prosthesis control, the global tibia kinematics can be used to monitor gait cycle progression and command smooth and continuous actuation. In this work, these global tibia kinematics define a phase variable impedance controller (PVIC), which is implemented as the nonvolitional base controller within a hybrid volitional control framework (PVI-HVC). The gait progression estim...