Implementation of Mass-Independent Impedance Control for RFSEA Using a Linkage Arm

Implementation of Mass-Independent Impedance Control for RFSEA Using a Linkage Arm

When using the powered lower-limb prosthesis, it is important to obtain varying amputee's weight to prevent an excessive knee flexion in the early stance phase of finite state impedance control. This paper proposes a method for implementing an impedance controller that can operate independently...

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Bibliographic Details
Main Authors: Kyeongmin Kim, Young Sam Lee
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Mass estimation
series elastic actuator
adaptive filters
recursive least square
disturbance observer
force control
Online Access:https://ieeexplore.ieee.org/document/8782097/

Internet

https://ieeexplore.ieee.org/document/8782097/

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