Data-Driven Impedance Control For Knee-Ankle Prostheses
The prevailing paradigm in lower-limb robotic prosthesis control is to use hand-designed controllers with heuristically tuned behaviors. While these approaches can be very effective, they are labor-intensive in both the design of the behaviors and in individualizing them to each individual at the point-of-care. In this work, we instead developed a data-driven control architecture that allowed the prosthesis to work over continuums of tasks without requiring manual tuning.
Jun 1, 2023
