Separable Control Lyapunov Functions With Application to Prostheses

This letter extends bipedal trajectory tracking methods to prostheses enable construction of a class model-dependent prosthesis controllers using locally available sensor information. The rapidly exponentially stabilizing control Lyapunov functions (RES-CLFs) developed for robots guarantee stability the hybrid zero dynamics in presence impacts that occur walking. These cannot be directly applied because unknown human dynamics. We overcome this challenge with two RES-CLFs, one subsystem and another remaining system. Further, we outline method construct these RES-CLFs type separable system by first constructing CLFs partially feedback linearizable systems. develops rely only on local information but provide formal guarantees full