Compliant Control of a Transfemoral Prosthesis Combining Predictive Learning and Primitive-Based Reference Trajectories
(2022) Wearable Robotics: Challenges and Trends. WeRob 2020 — Location: Online
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- Abstract
- This paper reports the development of a novel compliant controller for a transfemoral prosthesis that combines a feed-forward prediction torque component with a feedback error correction. The controller architecture aims to track primitive-based reference trajectories by the prosthetic joints. It relies on Locally Weighted Projection Regression, a function approximator that acts as an inverse internal model of the prosthesis. The proposed strategy is validated in a simulation environment.
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Citations
Heins, S., & Ronsse, R. (2022). Compliant Control of a Transfemoral Prosthesis Combining Predictive Learning and Primitive-Based Reference Trajectories. In Moreno J.C., Masood J., Schneider U., Maufroy C., Pons J.L. (ed.), Biosystems & Biorobotics (27 ed., p. p. 89-93). https://doi.org/10.1007/978-3-030-69547-7_15