Learning impedance controller parameters for lower-limb prostheses

Impedance control is a common framework for control of lower-limb prosthetic devices. This approach requires choosing many impedance controller parameters. In this paper, we show how to learn these parameters for lower-limb prostheses by observation of unimpaired human walkers. We validate our approach in simulation of a transfemoral amputee, and we demonstrate the performance of the learned parameters in a preliminary experiment with a lower-limb prosthetic device.

Authors

• Navid Aghasadeghi
• Huihua Zhao
• Levi J. Hargrove
• Aaron D. Ames
• Eric J. Perreault
• Timothy Bretl

Keywords

• Impedance
• Trajectory
• Joints
• Prosthetics
• Knee
• Legged locomotion
• Estimation
• Control Parameters
• Impedance Control
• Lower Limb Prosthesis
• Learnable Parameters
• Simulation Approach
• Performance Measures
• Physical Characteristics
• Fitness Function
• Ordinary Differential Equations
• Additional Constraints
• Walking Speed
• Hybrid System
• Gait Cycle
• Learning Control
• Smoothing Spline
• Control Architecture
• Knee Angle
• Prosthetic Limb
• Joint Trajectories
• Impedance Parameters
• Nominal Trajectory
• Subjects Walked
• Bipedal Walking
• Locomotion Mode
• Discrete Dynamics
• Continuum Mechanics
• Motion Capture
• Parameter Estimates
• Knee Joint
• Full Knee Extension