A Piecewise Monotonic Gait Phase Estimation Model for Controlling a Powered Transfemoral Prosthesis in Various Locomotion Modes

Gait phase-based control is a trending research topic for walking-aid robots, especially robotic lower-limb prostheses. phase estimation challenge gait control. Previous researches used the integration or differential of human's thigh angle to estimate phase, but accumulative measurement errors and noises can affect results. In this letter, more robust method proposed using unified form piecewise monotonic phase-thigh models various locomotion modes. The estimated from only angle, which stable variable avoids drifting. A Kalman filter-based smoother designed further suppress mutations phase. Based on method, joint tracking controller transfemoral prosthesis. smoother, are evaluated through offline analysis walking data in And real-time performance validated an experiment