Impedance Control of a Transfemoral Prosthesis using Continuously Varying Ankle Impedances and Multiple Equilibria
Namita Anil Kumar,Woolim Hong,Pilwon Hur,Namita Anil Kumar,Woolim Hong,Pilwon Hur
Impedance controllers are popularly used in the field of lower limb prostheses and exoskeleton development. Such controllers assume the joint to be a spring-damper system described by a discrete set of equilibria and impedance parameters. These parameters are estimated via a least squares optimization that minimizes the difference between the controller's output torque and human joint torque. Othe...
