Prosthesis Controller-Hardware-in-the Loop Simulation

This paper demonstrates the use of hardware-in-the-loop (HIL) simulation to mimic control action scenarios in an active prosthetic leg. The simulation is used to carry out a comparative assessment for model-based controllers such as computed torque, the Slotine and Li approach, and a regressor free approach using adaptive control based on the function approximation technique (FAT). The controller side comprises an embedded single-board computer (SBC) commanding a simulation computer. On the other side, the simulation computer runs a multibody model of a robotic setup that mimics hip motion. The HIL simulation shows that the adaptive FAT controller has better tracking with less control effort compared to the computed torque and Slotine controllers.