Anne E. Martin

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— The development of powered lower-limb prosthe-ses has the potential to significantly improve amputees' quality of life. By applying advanced control schemes, such as hybrid zero dynamics (HZD), to prostheses, more intelligent prostheses could be designed. Originally developed to control bipedal robots, HZD-based control specifies the motion of the(More)
—This paper presents a novel control strategy for an above-knee powered prosthetic leg that unifies the entire gait cycle, eliminating the need to switch between controllers during different periods of gait. Current control methods divide the gait cycle into several sequential periods each with independent controllers, resulting in many patient-specific(More)
— The ability to predict human gait, particularly impaired human gait, has the potential to improve reha-bilitation/training outcomes and to reduce prosthesis/orthosis development costs. This work presents a walking model of moderate complexity that accurately captures both sagittal plane joint kinematics and whole body energetics for healthy human walking.(More)
1 Motivation Due to experimental difficulties, almost no scientific evidence to date definitively indicates that one lower-limb prosthesis performs better than another [3]. A model of walking that is simple enough to allow systematic exploration of prosthesis design variables, yet detailed enough to accurately capture step dynamics , could help fill this(More)
The gait cycle is typically viewed as a periodic sequence of discrete events, starting with heel contact during initial stance and ending with knee extension during late swing. This convention has informed the design of control strategies for powered prostheses and orthoses, which almost universally utilize the concept of a finite state machine (FSM), e.g.,(More)
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