# 下肢假肢统一仿生控制：RBF插值实现35度地形自适应

> 原文链接：https://robotics.hellobike.com/papers/2026-10-15-2610-19183
> 频道：papers | 更新日期：2026-10-15 | 标签：auto, arxiv
> 核心摘要：研究提出模式统一下肢假肢控制框架，利用RBF插值融合坡度与步态相位，单FSM控制器实现平地至35度坡梯连续自适应。10名截肢者实验验证膝踝运动学拟合度达0.78-0.99，无需分模式调参。

# 下肢假肢统一仿生控制：RBF插值实现35度地形自适应

::: v-pre
> 本文由 AI 根据公开内容整理，可能有误，请以原文为准：[A Mode-Unified, Continuous, and Biomimetic Control Strategy of a Robotic Lower Limb Prosthesis](https://arxiv.org/abs/2610.19183)（arXiv 2610.19183）

## 核心内容

针对现有仿生下肢假肢需为平地、斜坡、楼梯离散模式单独调参的痛点，研究团队提出一种模式统一的连续仿生控制框架。该方案将膝踝生物力学建模为地形坡度与步态相位的连续函数，通过径向基函数（RBF）插值融合局部优化的上下坡多项式模型，在保留分区精度的同时优于全局多项式表达。

系统将统一生物力学转化为连续且依赖坡度的阻抗参数，集成于单一有限状态机（FSM）控制器中，并利用双侧传感进行步态状态估计。10名经股骨截肢受试者实验表明，该系统支持从平地到35度地形的自适应行走，涵盖训练集中未出现的13度斜坡与15度楼梯。膝关节指标R²达0.82-0.99，踝关节R²为0.78-0.96，证实了跨地形统一参数化的有效性。

## 关键看点

- **统一控制架构**：采用RBF插值融合局部多项式模型，将离散 locomotion 模式转化为坡度与步态相位的连续函数，消除多模式独立调参需求
- **广域地形适应**：单FSM控制器配合双侧传感，实现平地至35度坡梯连续自适应，成功泛化至训练数据未覆盖的13度斜坡与15度楼梯场景
- **高保真仿生验证**：10名截肢者实验显示膝踝运动学与健全人生物力学趋势高度一致，膝关节R²达0.82-0.99，踝关节R²为0.78-0.96

## 工程与产业观察

该工作证明了基于RBF插值的连续参数化方法可有效解决具身设备跨地形控制的离散切换难题。对于外骨骼与康复机器人研发，这种将环境几何特征直接映射为阻抗参数的统一建模思路，显著降低了多模态控制器的调试复杂度，为复杂非结构化环境下的自适应人机交互提供了可复用的算法范式。

## 英文摘要 (Abstract)

Existing biomimetic lower-limb prosthesis controllers are commonly designed for discrete locomotion modes, requiring separate parameterizations for level walking, ramps, and stairs. We present a mode-unified prosthesis control framework that represents knee and ankle biomechanics continuously as functions of terrain slope and gait phase across those locomotion conditions. Locally optimized ascent and descent polynomial models were unified using radial basis function (RBF) interpolation, preserving the accuracy of the partitioned models while outperforming a global polynomial representation. The resulting biomechanics were transformed into continuous and slope-dependent impedance parameters and implemented within a single finite-state-machine (FSM) controller using bilateral sensing for gait-state estimation. Experiments with 10 individuals with transfemoral amputation demonstrated terrain-adaptive locomotion from level walking through ramps and stairs up to 35 degrees, including 13 degree ramp and 15 degree stair conditions absent from the underlying able-bodied (AB) dataset. Experimental results reproduced the principal slope-dependent biomechanical trends predicted by the unified model, with high agreement for knee-related measures (r-square = 0.82 - 0.99) and ankle kinematics (r-square= 0.78 - 0.96). These findings demonstrated that unified biomechanical parameterization enables a prosthesis control architecture across diverse terrain conditions while preserving key features of AB biomechanics without requiring independently tuned impedance parameter sets for each locomotion mode.

作者：Hanjun Kim, Sixu Zhou, John Shim, Xinyuan Guo, Kinsey R. Herrin, Aaron J. Young
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## 原始参考来源 (Sources)

- [arXiv 2610.19183：A Mode-Unified, Continuous, and Biomimetic Control Strategy of a Robotic Lower Limb Prosthesis](https://arxiv.org/abs/2610.19183)