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Extremum-Seeking Control for a Robotic Leg Prosthesis with Sensory Feedback
1School of Information and Control Engineering, Southwest University of Science and Technology, Mianyang 621000, China.
Sensors (Basel, Switzerland)
|August 28, 2025
Summary
This study introduces a novel method using noninvasive functional electrical stimulation (nFES) to help lower-limb amputees sense ground contact forces, enabling real-time prosthetic leg adjustments for varied terrains.
Area of Science:
- Biomechanics and Robotics
- Neuroprosthetics
- Control Systems Engineering
Background:
- Human locomotion relies on sensing leg-ground contact forces to adapt walking speed and leg stiffness.
- Lower-limb amputees lack this natural sensory feedback, hindering prosthetic leg adaptation to different terrains.
Purpose of the Study:
- To develop a noninvasive functional electrical stimulation (nFES) system to provide sensory feedback for prosthetic leg control.
- To enable lower-limb amputees to adjust prosthetic leg parameters in real-time for varied walking terrains.
Main Methods:
- Utilized noninvasive functional electrical stimulation (nFES) to relay leg-ground contact force information.
- Implemented an extremum-seeking control (ESC) strategy to optimize prosthetic leg control parameters.
- Designed a cost function integrating joint tracking errors and stimulation current changes.
Main Results:
- Demonstrated the stability of the proposed controller incorporating extremum-seeking dynamics.
- Experimental results confirmed that the ESC method effectively adjusted prosthetic leg parameters based on real-time feedback.
- The system enabled adaptive control of prosthetic legs across different walking terrains.
Conclusions:
- The developed nFES system and ESC strategy offer a promising approach for enhancing prosthetic leg functionality.
- This method allows for natural regulation of prosthetic leg behavior, mimicking human locomotion.
- Improved sensory feedback and adaptive control can significantly benefit lower-limb amputees in navigating diverse environments.
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