Control of a Transfemoral Prosthesis on Sloped Terrain using Continuous and Nonlinear Impedance Parameters
Namita Anil Kumar Woolim Hong Pilwon Hur Namita Anil Kumar Woolim Hong Pilwon Hur
The design of impedance controllers for sloped walking with a transfemoral prosthesis is a complex control problem that generally results in numerous tuning parameters. This study proposes an easy-to-tune sloped walking control scheme. While the ankle is controlled using impedance control, the knee is controlled using a hybrid strategy of impedance control and trajectory tracking. This study deriv...