Scholarlink

<p>Gait coordination in lower limbs plays a critical role in maintaining stability of the human body during walking. For transfemoral amputees, the absence of limbs disrupts this coordination, reducing prosthesis control accuracy. Hip-knee coordination mapping offers a feasible solution for lower-limb prosthesis control, involving the generation of a reference trajectory for the knee joint by leveraging information from the hip. However, current reference trajectories are usually derived from static models, which cannot generate reference trajectories robustly when dealing with perturbations. Therefore, this paper introduces a time-dependent model based on the Delayed Feedback Reservoir (DFR) for hip-knee coordination in lower-limb prosthetic control. Experimental results show that DFR outperforms classical gait planning approaches when facing perturbations, achieving a 20% lower Root Mean Square Error (RMSE) and reducing residuals by up to 18.14 degrees. This research contributes to understanding gait mapping approaches and emphasizes the potential of time-dependent models for robust and strong lower-limb prosthetic control. The discovery provides a novel way to enhance the perturbation adaptability of prosthetic control.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Time-dependent Reservoir-based Gait Planning for Enhanced Lower-limb Prosthetic Control and Perturbation Adaptability

  • 期刊论文

  • 发表日期：

    2025年9月26日

查看全文
  • Chang Lu,
  • Yang Lv,
  • Wen Zhang,
  • Hao Sun,
  • Qidi Wu,
  • Shuai Wang,
  • Xiaoxu Zhang,
  • Jian Xu

摘要

Gait coordination in lower limbs plays a critical role in maintaining stability of the human body during walking. For transfemoral amputees, the absence of limbs disrupts this coordination, reducing prosthesis control accuracy. Hip-knee coordination mapping offers a feasible solution for lower-limb prosthesis control, involving the generation of a reference trajectory for the knee joint by leveraging information from the hip. However, current reference trajectories are usually derived from static models, which cannot generate reference trajectories robustly when dealing with perturbations. Therefore, this paper introduces a time-dependent model based on the Delayed Feedback Reservoir (DFR) for hip-knee coordination in lower-limb prosthetic control. Experimental results show that DFR outperforms classical gait planning approaches when facing perturbations, achieving a 20% lower Root Mean Square Error (RMSE) and reducing residuals by up to 18.14 degrees. This research contributes to understanding gait mapping approaches and emphasizes the potential of time-dependent models for robust and strong lower-limb prosthetic control. The discovery provides a novel way to enhance the perturbation adaptability of prosthetic control.