Towards Biomimetic Virtual Constraint Control of a Powered Prosthetic Leg

This brief presents a novel control strategy for a powered prosthetic ankle based on a biomimetic virtual constraint. We first derive a kinematic constraint for the "effective shape" of the human ankle-foot complex during locomotion. This shape characterizes ankle motion as a function of t...

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Veröffentlicht in:	IEEE transactions on control systems technology 2014-01, Vol.22 (1), p.246-254
Hauptverfasser:	Gregg, Robert D., Sensinger, Jonathon W.
Format:	Artikel
Sprache:	eng
Schlagworte:	Bipedal walking feedback linearization Foot Humans Joints Kinematics Legged locomotion prosthetic control systems Prosthetics robotics Shape virtual constraints
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