Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control

• Published in: IEEE transactions on automation science and engineering Vol. 13; no. 2; pp. 502 - 513
• Main Authors: Huihua Zhao, Horn, Jonathan, Reher, Jacob, Paredes, Victor, Ames, Aaron D.
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.04.2016; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Control Lyapunov function; Controllers; cyber-physical-system (CPS); Foot; Heuristic; Hybrid power systems; hybrid system; Legged locomotion; Motion control; Optimization; Optimization algorithms; Prostheses; Prosthetics; Quadratic programming; Trajectory; transfemoral prosthesis

Lower-limb prostheses provide a prime example of cyber-physical systems (CPSs) requiring the synergistic development of sensing, algorithms, and controllers. With a view towards better understanding CPSs of this form, this paper presents a systematic methodology using multidomain hybrid system model...