Robotic Leg Prosthesis: A Survey From Dynamic Model to Adaptive Control for Gait Coordination

Area of Science:

• Robotics
• Biomechanics
• Control Systems

Background:

• Gait coordination (GC) is essential for natural walking in healthy individuals.
• Achieving GC in robotic leg prostheses is critical for unilateral amputees' ambulation.
• Current challenges exist in dynamic modeling and control design for prosthetic GC.

Purpose of the Study:

• To comprehensively review GC-oriented dynamic modeling and adaptive control methods for robotic leg prostheses.
• To classify existing models based on terrain types (structured vs. uneven).
• To highlight key problems in realizing GC for prosthetic applications.

Main Methods:

• Classification of dynamic models into deterministic (structured terrain) and constrained stochastic (uneven terrain).
• Review of adaptive control strategies inspired by synchronization concepts.
• Identification of three core GC realization problems: complete, stochastic, and finite-time delayed stochastic coordination.

Main Results:

• Categorization of robotic leg prosthesis models based on environmental complexity.
• Emphasis on synchronization principles for achieving GC.
• Identification of specific coordination challenges: complete, stochastic, and finite-time delayed stochastic.

Conclusions:

• A comprehensive review of GC dynamic modeling and adaptive control for robotic leg prostheses is presented.
• Existing methods are classified by terrain type and coordination problem.
• Remaining challenges and future opportunities in prosthetic control are discussed.