An Adaptive Control Method for a Knee-Joint Prosthetic Leg Toward Dynamic Stability and Gait Optimization
Year: 2025
Type: conference-paper
Abstract: This paper presents a hybrid control strategy that combines Model Predictive Control (MPC) and Linear Quadratic Regulator (LQR) to achieve robust and stable tracking of human knee joint motion.The state-space model of the system is discretized to facilitate real-time implementation.MPC is employed to track the knee joint trajectory during dynamic motion, while the LQR controller is activated at critical points, particularly when the joint angle approaches zero, to stabilize the system and ensure safety.
Institution: Kyushu Institute of Technology
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: bronze
OpenAlex ID: W4409913402