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cs.RO2026
A Mode-Unified, Continuous, and Biomimetic Control Strategy of a Robotic Lower Limb Prosthesis
Hanjun Kim, Sixu Zhou, John Shim +3
Existing biomimetic lower-limb prosthesis controllers are commonly designed for discrete locomotion modes, requiring separate parameterizations for level walking, ramps, and stairs…
cs.RO2026
End-to-End Control of a Powered Knee-Ankle Prosthesis Towards Unified, Tuning-Free Assistance
John Shim, Christoph Nuesslein, Sixu Zhou +3
Powered prostheses conventionally rely on impedance controllers that require extensive manual tuning and explicit mode classification. In this work, we present real-time deployment…