CaltechAUTHORS
Published November 2013 | Version public
Book Section - Chapter Metadata-only

Learning impedance controller parameters for lower-limb prostheses

Creators

  • 1. ROR icon University of Illinois Urbana-Champaign
  • 2. ROR icon Texas A&M University
  • 3. ROR icon Northwestern University
  • 4. ROR icon Rehabilitation Institute of Chicago

Abstract

Impedance control is a common framework for control of lower-limb prosthetic devices. This approach requires choosing many impedance controller parameters. In this paper, we show how to learn these parameters for lower-limb prostheses by observation of unimpaired human walkers. We validate our approach in simulation of a transfemoral amputee, and we demonstrate the performance of the learned parameters in a preliminary experiment with a lower-limb prosthetic device.

Additional Information

© 2013 IEEE. This work was supported by the NSF program in Cyber-physical systems, grant #0939963, and by the National Institute of Neurological Disorders and Stroke of the National Institutes of Health under award #F31NS080618.

Additional details

Identifiers

Eprint ID
97340
DOI
10.1109/IROS.2013.6696968
Resolver ID
CaltechAUTHORS:20190722-164824084

Related works

Describes
10.1109/IROS.2013.6696968 (DOI)

Funding

NSF
CNS-0939963
NIH Postdoctoral Fellowship
F31NS080618

Dates

Created
2019-07-23
Created from EPrint's datestamp field
Updated
2021-11-16
Created from EPrint's last_modified field

Caltech Custom Metadata

Series Name
IEEE International Conference on Intelligent Robots and Systems