Phase-Variable Control of a Powered Knee-Ankle Prosthesis over Continuously Varying Speeds and Inclines

T. Kevin Best,Kyle R. Embry,Elliott J. Rouse,Robert D. Gregg,T. Kevin Best,Kyle R. Embry,Elliott J. Rouse,Robert D. Gregg

Most controllers for lower-limb robotic prostheses require individually tuned parameter sets for every combination of speed and incline that the device is designed for. Because ambulation occurs over a continuum of speeds and inclines, this design paradigm requires tuning of a potentially prohibitively large number of parameters. This limitation motivates an alternative control framework that enab...