This brief presents a novel control strategy for a powered prosthetic ankle based on a
biomimetic virtual constraint. We first derive a kinematic constraint for the “effective shape” of …

To improve the quality of life for lower-limb amputees, powered prostheses are being
developed. Advanced control schemes from the field of bipedal robots, such as hybrid zero …

Path following entails having the output of a control system approach a path and traverse it
without a priori time parameterization of the motion along the path. We design path-following …

For many planar bipedal models, each step is divided into a finite time single support period
and an instantaneous double support period. During single support, the biped is typically …

In the human gait cycle, virtual constraints enforce a robust relationship between the thigh
phase-variable and the knee/ankle angle. These constraints enable an accurate estimation …

This paper presents a novel control strategy for a powered knee-ankle prosthesis based on
biomimetic virtual constraints. We begin by deriving kinematic constraints for the “effective …

A new classification for two‐degree‐of‐freedom mechanical systems is introduced, based
on structural control properties. The largest feedback linearisable subsystem with internal …

This thesis presents a hierarchical geometric control approach for fast and energetically
efficient bipedal dynamic walking in three-dimensional (3-D) space to enable motion …

Ever since the Czech Karel Capek introduced the word robot in his play Rossum's Universal
Robots people are imagining how the world would look like if robots were an element of …

Much is still unknown about the double support period in bipedal walking, the period of
bipedal gait when both feet are in contact with the ground. One such unknown is to what …