Aaron J. Young

A Mode-Unified, Continuous, and Biomimetic Control Strategy of a Robotic Lower Limb Prosthesis

Existing biomimetic lower-limb prosthesis controllers are commonly designed for discrete locomotion modes, requiring separate parameterizations for level walking, ramps, and stairs. We present a mode-unified prosthesis control framework that represents knee and ankle biomechanics continuously as functions of terrain sl...