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A Task-Space Control Framework for Powered Ankle Prostheses: Design, Implementation, and Evaluation
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DOI：10.1109/TMRB.2025.3604085.png)
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Abstract
En 中文
Powered lower-limb prostheses outperform passive counterparts by generating positive work, but their full potential relies on control frameworks that operate in synergy with the user. This paper introduces a novel control framework that focuses on system-level objectives, such as for ground reaction forces (GRFs) and center of mass (CoM) kinematics, rather than detailed joint-level quantities. This new mechanism of coordinating the user and their device may better align with whole-body coordination mechanisms suggested by past research into human sensorimotor control. The proposed task-space control (TSC) framework is evaluated against a passive controller and a state-of-the-art impedance controller for individuals with and without amputation across varying walking speeds. Results demonstrate that while TSC exclusively considers system-level objectives to compute actuator torques, it still produces normative joint-level kinematic and kinetic outcomes. TSC generated 30% more peak torque, 11 degrees more plantarflexion push-off, and 41% improvement in ankle kinematic symmetry for individuals with amputation at their preferred walking speed compared to the passive control.
Keywords:
Kinematics
Legged locomotion
Prosthetics
Torque
Trajectory
Sensors
Ankle
Robot sensing systems
Actuators
Limbs
Lower-limb amputation
prosthetics
control algorithms
legged locomotion
rehabilitation robotics
Journal
I
IF:
3.8
Papers:
795
Citations:
1.8K