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Stable, Robust Hybrid Zero Dynamics Control of Powered Lower-Limb Prostheses

Anne E Martin1, Robert D Gregg2

  • 1A. E. Martin is with the Department of Mechanical and Nuclear Engineering, The Pennsylvania State University, University Park, PA, 16802 USA.

IEEE Transactions on Automatic Control
|December 26, 2017
PubMed
Summary

Researchers adapted advanced robot control for powered prostheses, enhancing stability and robustness for lower-limb amputees. This improves the quality of life for individuals using artificial limbs.

Keywords:
Biomedical systemsNonlinear systemsRobotic prosthesesRoboticsStability of hybrid systems

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