Powered Knee and Ankle Prosthesis Control for Adaptive Ambulation at Variable Speeds, Inclines, and Uneven Terrains
Liam M. Sullivan,Suzi Creveling,Marissa Cowan,Lukas Gabert,Tommaso Lenzi,Liam M. Sullivan,Suzi Creveling,Marissa Cowan,Lukas Gabert,Tommaso Lenzi
Ambulation in everyday life requires walking at variable speeds, variable inclines, and variable terrains. Powered prostheses aim to provide this adaptability through control of the actuated joints. Some powered prosthesis controllers can adapt to discrete changes in speed and incline but require manual tuning to determine the control parameters, leading to poor clinical viability. Other data-driv...
