Learning impedance controller parameters for lower-limb prostheses

Impedance control is a common framework for control of lower-limb prosthetic devices. This approach requires choosing many impedance controller parameters. In this paper, we show how to learn these parameters for lower-limb prostheses by observation of unimpaired human walkers. We validate our appro...

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Bibliographische Detailangaben

Hauptverfasser:	Aghasadeghi, Navid, Huihua Zhao, Hargrove, Levi J., Ames, Aaron D., Perreault, Eric J., Bretl, Timothy
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Estimation Impedance Joints Knee Legged locomotion Prosthetics Trajectory
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