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Navid Aghasadeghi, University of Illinois at Urbana-Champaign, Huihua Zhao, Texas A&M University, Levi J. Hargrove, Northwestern University, Aaron D. Ames, Texas A&M University, Eric J. Perreault, Northwestern University, Timothy Bretl, University of Illinois at Urbana-Champaign.  2013.  Learning Impedance Controller Parameters for Lower-Limb Prostheses. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Impedance control is a common framework for control of lower-limb prosthetic devices. This approach requires choosing many impedance controller parameters. In this paper, we show how to learn these parameters for lower-limb prostheses by observation of unimpaired human walkers. We validate our approach in simulation of a transfemoral amputee, and we demonstrate the performance of the learned parameters in a preliminary experiment with a lower-limb prosthetic device.