Robotic Leg Prosthesis: A Survey From Dynamic Model to Adaptive Control for Gait Coordination
Xin Ma,
Xiaoxu Zhang,
Jian Xu
Abstract:Gait coordination (GC), meaning that one leg moves in the same pattern but with a specific phase lag to the other, is a spontaneous behavior in the walking of a healthy person. It is also crucial for unilateral amputees with the robotic leg prosthesis to perform ambulation cooperatively in the real world. However, achieving the GC for amputees poses significant challenges to the prostheses' dynamic modeling and control design. Still, there has not been a clear survey on the initiation and evolution of the deta… Show more
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