Robert D. Gregg

A Replay-Constrained Simulation Framework for Personalization of Powered Knee-Ankle Prosthesis Controllers

Personalization of impedance controllers for powered prosthetic legs is critical to accommodating individual gait biomechanics but remains challenging. Existing methods rely on time-intensive human-in-the-loop exploration and/or constrain optimization to low-dimensional, single-joint parameter subspaces. Sim-to-real tr...