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The Hidden Potential of Energetically Passive Exoskeletons Read chapter Read first chapter

2022 | OriginalPaper | Chapter

Compliant Control of a Transfemoral Prosthesis Combining Predictive Learning and Primitive-Based Reference Trajectories

Authors : Sophie Heins, Renaud Ronsse

Published in: Wearable Robotics: Challenges and Trends

Publisher: Springer International Publishing

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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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previous chapter Control of Servomotor Rotation in a Myoelectric Upper-Limb Prosthesis Using a 16-Channel sEMG Sensor System
next chapter Design and Testing of a Fully-Integrated Electro-Hydrostatic Actuator for Powered Knee Prostheses
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Metadata
Title
Compliant Control of a Transfemoral Prosthesis Combining Predictive Learning and Primitive-Based Reference Trajectories
Authors
Sophie Heins
Renaud Ronsse
Copyright Year
2022
Book
Wearable Robotics: Challenges and Trends

Print ISBN: 978-3-030-69546-0

Electronic ISBN: 978-3-030-69547-7

Copyright Year: 2022

DOI
https://doi.org/10.1007/978-3-030-69547-7_15