Biologically Inspired Deadbeat Control of Robotic Leg Prostheses

Receding Horizon Control Based Online Motion Planning with Partially Infeasible LTL Specifications

“…Theorem 2. For the energy function designed in (6) [33]. By definition of F * , all states in SCC belong to F * .…”

“…Since the SCC is reachable from s P j , it implies s P j ∈ F * , which contradicts that s P j / ∈ F * . Consequently, all accepting states in s P must be in F * and have energy zero based on (6). Since F * is reachable by any state in s P , J s P i = ∞ for all i = 1, .…”

“…Since not all predicated trajectories maximizing the utility U sP k , sP k ∈ Path s P * k−1 , N , in (11) are guaranteed to be accepting by P, additional constraints need to be imposed. Note that the energy function J s P * k−1 defined in (6) indicates the distance from the current state s P * k−1 to F * . A trajectory on P is accepting if the trajectory can intersect F * infinitely many times.…”

“…Motion planning of autonomous agents has broad potential applications ranging from driverless cars navigating urban environments subject to complex traffic rules [1] to autonomous vehicles (e.g., an unmanned ground or aerial vehicle) performing search and rescue missions in uncertain environments after a natural disaster [2], and to robotic systems dynamically cooperating with human operators in manufacturing and medical care [3]- [6]. While there is a growing demand for these applications, autonomous agents so far have not been fully used.…”

Design and Trajectory Tracking Control of a Magnetorheological Prosthetic Knee Joint

“…For lower limb amputees, the loss of lower limbs not only causes them to lose their basic athletic ability in daily life but also comes with the atrophy and degeneration of the disabled limbs and effects on their physical and mental health. Lower limb prostheses can replace the movement function of the limbs to a certain extent, thereby restoring part of the movement ability of lower limb amputees, so that the amputees can move freely like normal people, which not only causes them to regain their confidence in life but also greatly facilitates their daily life, improves their living standards, returns them to their family with a full spirit, and contributes to the development of themselves and society [3,4]. Therefore, it is of great practical significance to develop a prosthetic with excellent performance to return amputees to normal life [5].…”