A Caltech Library Service

Model-Dependent Prosthesis Control with Interaction Force Estimation

Gehlhar, Rachel and Ames, Aaron D. (2021) Model-Dependent Prosthesis Control with Interaction Force Estimation. In: 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 3226-3232. ISBN 978-1-7281-9077-8.

[img] PDF - Submitted Version
See Usage Policy.


Use this Persistent URL to link to this item:


Current lower-limb prosthesis control methods are primarily model-independent — lacking formal guarantees of stability, relying largely on heuristic tuning parameters for good performance, and neglecting use of the natural dynamics of the system. Model-dependence for prosthesis controllers is difficult to achieve due to the unknown human dynamics. We build upon previous work which synthesized provably stable prosthesis walking through the use of rapidly exponentially stabilizing control Lyapunov functions (RES-CLFs). This paper utilizes RES-CLFs together with force estimation to construct model-based optimization-based controllers for the prosthesis. These are experimentally realized on hardware with onboard sensing and computation. This hardware demonstration has formal guarantees of stability, utilizes the natural dynamics of the system, and achieves superior tracking to other prosthesis trajectory tracking control methods.

Item Type:Book Section
Related URLs:
URLURL TypeDescription Paper
Gehlhar, Rachel0000-0002-4838-8839
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2021 IEEE. This material is based upon work supported by the National Science Foundation Graduate Research Fellowship under Grant No. DGE-1745301, NSF NRI Grant No. 1924526, and CMMI award 1923239. This research was approved by California Institute of Technology Institutional Review Board with protocol no. 16-0693 for human subject testing.
Funding AgencyGrant Number
NSF Graduate Research FellowshipDGE-1745301
Record Number:CaltechAUTHORS:20211217-98186000
Persistent URL:
Official Citation:R. Gehlhar and A. D. Ames, "Model-Dependent Prosthesis Control with Interaction Force Estimation," 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 3226-3232, doi: 10.1109/ICRA48506.2021.9561250
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:112514
Deposited By: George Porter
Deposited On:17 Dec 2021 23:40
Last Modified:17 Dec 2021 23:40

Repository Staff Only: item control page