On Intuitive Control of Ankle-Foot Prostheses: A Sensor Fusion-Based Algorithm for Real-Time Prediction of Transitions to Compliant Surfaces

Charikleia Angelidou,Panagiotis Artemiadis,Charikleia Angelidou,Panagiotis Artemiadis

Substantial research and development on the design and control of robotic ankle-foot prostheses have aimed to restore normal function and movement capacity for people with gait impairments and lower limb amputations. However, prostheses controllers usually fail to incorporate information pertaining to the properties of the walking terrain, such as ground stiffness. There is therefore a need for a ...