Model-Dependent Prosthesis Control with Interaction Force Estimation
Rachel Gehlhar Aaron D. Ames Rachel Gehlhar Aaron D. Ames
Current lower-limb prosthesis control methods are primarily model-independent — lacking formal guarantees of stability, relying largely on heuristic tuning parameters for good performance, and neglecting use of the natural dynamics of the system. Model-dependence for prosthesis controllers is difficult to achieve due to the unknown human dynamics. We build upon previous work which synthesized prov...