Recent Advances on Control of Active Lower Limb Prostheses

摘要

Recently, many novel results have appeared on the control-oriented design and analysis of active prostheses [28. K. Zhang, et al. Sensor fusion for predictive control of human-prosthesis-environment dynamics in assistive walking: a survey, 2019; 48. M. R. Tucker, et al. Control strategies for active lower extremity prosthetics and orthotics: a review. Journal of Neuroengineering and Rehabilitation, Vol. 12, no. 1, 2015. https://www.jneuroengrehab.com/content/12/1/1; 74. R. Torrealba. Towards the development of knee prostheses: review of current active devices. Applied Mechanics Reviews, ASME, 2017]. This paper presents a review of recent advances in the control of robotic prostheses, with an emphasis on lower limb prostheses. Arm and hand prostheses are also included, to have a more comprehensive view of the prosthesis. It includes the most common control strategies and unconventional proposals, such as intelligent control methods. The design methods of sensors, actuators, and control strategy are also discussed, which allow one to achieve the desired behavior of the mechanisms.