Stable, Robust Hybrid Zero Dynamics Control of Powered Lower-Limb Prostheses
نویسندگان
چکیده
منابع مشابه
Whole-body angular momentum during sloped walking using passive and powered lower-limb prostheses.
Sloped walking requires altered strategies for maintaining dynamic balance relative to level-ground walking, as evidenced by changes in sagittal-plane whole-body angular momentum (H) in able-bodied individuals. The ankle plantarflexor muscles are critical for regulating H, and functional loss of these muscles from transtibial amputation affects this regulation. However, it is unclear if a power...
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The possibility of using myo-electric potentials for the control of powered prostheses is not a new one. It was probably first suggested as long ago as 1947 by the late Professor Norbert Weiner (1963), and was first achieved in Guy’s Hospital in 1955 by Battye, Nightingale and Whillis. More recently the idea has received considerable publicity because of the introduction in Russia of an electri...
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2017
ISSN: 0018-9286,1558-2523
DOI: 10.1109/tac.2017.2648040