Modeling the Kinematics of Human Locomotion Over Continuously Varying Speeds and Inclines

• Published in: IEEE transactions on neural systems and rehabilitation engineering Vol. 26; no. 12; pp. 2342 - 2350
• Main Authors: Embry, Kyle R., Villarreal, Dario J., Macaluso, Rebecca L., Gregg, Robert D.
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.12.2018; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Ankle; Artificial Limbs; Basis functions; Biomechanical Phenomena; Biomechanics; Computational geometry; Continuity (mathematics); Control algorithms; Convexity; Data models; Female; Finite state machines; Gait; Gait - physiology; Healthy Volunteers; Human locomotion; Humans; Interpolation; Kinematics; Knee; Legged locomotion; Locomotion; Locomotion - physiology; Male; Mathematical models; Model reduction; Modelling; Models, Biological; Optimization; predictive models; Prostheses; prosthetic limbs; Prosthetics; Reproducibility of Results; robot control; Task analysis; Trajectories; Trajectory; Walking; Walking - physiology; Weight; Young Adult

Powered knee and ankle prostheses can perform a limited number of discrete ambulation tasks. This is largely due to their control architecture, which uses a finite-state machine to select among a set of task-specific controllers. A non-switching controller that supports a continuum of tasks is expec...