Advanced Controllers for Lower-limb Prostheses Enhancing Agility

· 2 min read
project

Project Goal

This project develops human-in-the-loop adaptive control systems for prosthetic devices that enhance user mobility and stability across varied terrains.

Key Contributions

  • Dynamic Adaptive Control Design: Developed intelligent prosthetic controllers that dynamically adapt parameters in real time to suit changing surface conditions and individual user needs.
  • Predictive Surface Transitioning: Formulated predictive models using neural and kinematic signals to anticipate transitions to compliant terrains during gait, ensuring smooth, uninterrupted locomotion.
  • Terrain-Adaptive Stiffness Modulation: Implemented real-time ankle-foot stiffness tuning to enhance user balance, stability, and agility over soft, uneven, or compliant surfaces.

Media & Experimental Demos

Experimental Setup Neural Control Interface

Selected Publications

(see Publications for a complete list)

  • On Predicting Transitions to Compliant Surfaces in Human Gait via Neural and Kinematic Signals
    Charikleia Angelidou and Panagiotis Artemiadis IEEE Transactions on Neural Systems and Rehabilitation Engineering, 31:2214-2223, 2023. [PDF]

  • Adjusting the Quasi-Stiffness of an Ankle-Foot Prosthesis Improves Walking Stability during Locomotion over Compliant Terrain
    Chrysostomos Karakasis, Robert Salati and Panagiotis Artemiadis In the Proc. of the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, pp. 2140-2145, 2023 [PDF]

  • On the Effects of Visual Anticipation of Floor Compliance Changes on Human Gait: Towards Model-based Robot-Assisted Rehabilitation
    Michael Drolet, Emiliano Quinones Yumbla, Bradley Hobbs and Panagiotis Artemiadis
    In the Proc. of the 2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 9072-9078, 2020. [PDF]

Funding & Acknowledgments

This work has been supported by the following grants:

  • NSF: 2020009, 2015786, 2025797, 201890
  • Any opinions, findings, and conclusions expressed are those of the authors.