A New Powered Lower Limb Prosthesis Control Framework Based on Adaptive Dynamic Programming

@article{Wen2017ANP,
  title={A New Powered Lower Limb Prosthesis Control Framework Based on Adaptive Dynamic Programming},
  author={Yue Wen and Jennie Si and Xiang Gao and He Helen Huang},
  journal={IEEE Transactions on Neural Networks and Learning Systems},
  year={2017},
  volume={28},
  pages={2215-2220}
}
This brief presents a novel application of adaptive dynamic programming (ADP) for optimal adaptive control of powered lower limb prostheses, a type of wearable robots to assist the motor function of the limb amputees. Current control of these robotic devices typically relies on finite state impedance control (FS-IC), which lacks adaptability to the user’s physical condition. As a result, joint impedance settings are often customized manually and heuristically in clinics, which greatly hinder… CONTINUE READING
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