2 papers
cs.RO2026
Design and Validation of a Lightweight, Low-Profile Powered Knee Prosthesis with Quasi-Direct Drive Actuation
Ross J. Cortino, Ryan Posh, Emily G. Keller +1
Fully-powered knee prostheses, unlike traditional passive knees, can perform controlled positive work, reducing the need for compensatory behaviors by users during energy-intensive…
cs.RO2026
A Replay-Constrained Simulation Framework for Personalization of Powered Knee--Ankle Prosthesis Controllers
Duong Le, Ryan Posh, Shihao Cheng +2
Personalization of impedance controllers for powered prosthetic legs is critical to accommodating individual gait biomechanics but remains challenging. Existing methods rely on tim…