V. D. Kalanovic

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The control of a knee joint in an active above-knee prosthesis has been designed using the Lyapunov tracking method. A simulation of locomotion was done to prove that the tracking control in output space is a valuable real time control method for artificial legs. The data used for simulation was collected in able-bodied subjects while they walked on a(More)
Feedback-error learning (FEL) neural network was developed for control of a powered trans-femoral prosthesis. Nonlinearities and time-variations of the dynamics of the plant, in addition to redundancy and dynamic uncertainty during the double support phase of walking, makes conventional control methods very difficult to use. Rule-based control, which uses a(More)
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