This paper reports the development of a novel compliant controller for a transfemoral prosthesis that combines a feed-forward prediction torque component with a feedback error correction. The controller architecture aims to track primitive-based reference trajectories by the prosthetic joints. It relies on Locally Weighted Projection Regression, a function approximator that acts as an inverse internal model of the prosthesis. The proposed strategy is validated in a simulation environment.
CITATION STYLE
Heins, S., & Ronsse, R. (2022). Compliant Control of a Transfemoral Prosthesis Combining Predictive Learning and Primitive-Based Reference Trajectories. In Biosystems and Biorobotics (Vol. 27, pp. 89–93). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-69547-7_15
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