A Robust Adaptive Admittance Control Scheme for Robotic Knee Prosthesis Using Human-Inspired Virtual Constraints

A Robust Adaptive Admittance Control Scheme for Robotic Knee Prosthesis Using Human-Inspired Virtual Constraints

A robust adaptive admittance control scheme using human-inspired virtual constraints was presented for a robotic knee prosthesis. The controller is able to deal with the wearer's motion intention as well as the partial unknown parameter values of the prosthesis dynamics. The desired trajectory...

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Bibliographic Details
Main Authors: Yongshan Huang, An Honglei, Qing Wei, Ma Hongxu
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Knee prosthesis
virtual constraints
admittance control
robust adaptive control
composite reaching law
Online Access:https://ieeexplore.ieee.org/document/9187769/

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