Towards a Unified Approach for Continuously-Variable Impedance Control of Powered Prosthetic Legs over Walking Speeds and Inclines

Albert J. Lee,Curt A. Laubscher,T. Kevin Best,Robert D. Gregg,Albert J. Lee,Curt A. Laubscher,T. Kevin Best,Robert D. Gregg

Research in powered prosthesis control has explored the use of impedance-based control algorithms due to their biomimetic capabilities and intuitive structure. Modern impedance controllers feature parameters that smoothly vary over gait phase and task according to a data-driven model. However, these recent efforts only use continuous impedance control during stance and instead utilize discrete tra...