Systems and methods for automatically tuning powered prosthesis impedance control parameters

A system for tuning powered prosthesis impedance control parameters, comprising:

• a powered prosthesis comprising:
• a joint,
• a motor mechanically coupled to the joint, the motor being configured to drive the joint,
• a plurality of sensors configured to measure a plurality of gait parameters associated with a subject, and
• an impedance controller configured to output a control signal for adjusting a torque of the motor;
• an intelligent tuner operably connected to the powered prosthesis, wherein the intelligent tuner is configured to implement an intelligent computing algorithm for adjusting at least one of a plurality of impedance control parameters using a rule base, and wherein the rule base encodes human expert decision making using a plurality of rules that link changes in the measured gait parameters to corresponding adjustments to the impedance control parameters;
• and
• a finite state machine operably connected to the powered prosthesis, wherein the finite state machine is configured to determine a gait cycle state based on the measured gait parameters and select a set of adjusted impedance control parameters based on the gait cycle state, wherein the impedance controller is configured to adjust the torque of the motor as a function of the measured gait parameters and the set of adjusted impedance control parameters.