Finite-State Machine for Level-Ground Walking Control of an Ankle-Foot Orthosis
Bibliographic record
Abstract
This paper presents a control algorithm for an active ankle-foot orthosis that provides level-ground walking assistance with adaptable control parameters. Instead of the impedance-control usually used in lower-limb assistive devices, an admittance control is used, and the control parameters are adapted with respect to gait events detected by a finite-state machine based on foot pressure sensors. In this work, the state machine can not only detect the various phases of the walking cycle but also undesirable events such as an unexpected lifting of the foot, reversing or even the user's intent to stop. It selects the best parameters that will allow a safe control of the orthosis. The control system was implemented and evaluated on a single subject. The ability of the device to provide appropriate functionality (kinematics and kinetics) during ground-walking is compared to those of a healthy subject. Results from tests indicates that the orthosis can provide desirable level-ground walking behavior.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".