4 papers
Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control
Rachel Gehlhar, Aaron D. Ames
Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee req…
Model-Dependent Prosthesis Control with Interaction Force Estimation
Rachel Gehlhar, Aaron D. Ames
Current prosthesis control methods are primarily model-independent - lacking formal guarantees of stability, relying largely on heuristic tuning parameters for good performance, an…
Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses
Rachel Gehlhar, Yuxiao Chen, Aaron D. Ames
This paper proposes a data-driven method for powered prosthesis control that achieves stable walking without the need for additional sensors on the human. The key idea is to extrac…
Recurrent Neural Network Control of a Hybrid Dynamic Transfemoral Prosthesis with EdgeDRNN Accelerator
Chang Gao, Rachel Gehlhar, Aaron D. Ames +2
Lower leg prostheses could improve the life quality of amputees by increasing comfort and reducing energy to locomote, but currently control methods are limited in modulating behav…