NCAS'26

The design of bionic limbs is undergoing a fundamental shift, moving beyond isolated technical performance toward truly human-centered, intelligent systems that function seamlessly in the real world. This talk addresses the challenge of achieving embodied intelligence in bionic limbs, with an emphasis on lower-limb prostheses operating in complex, dynamic environments alongside their users. It highlights recent advances in compliant mechatronic design, human-in-the-loop optimization, and AI-based control architectures that tightly couple physical embodiment, sensing, and decision-making.

These developments have the potential to enable prosthetic systems that adapt in real time, respond naturally to human intent, and reduce the cognitive burden on the user. By embedding intelligence directly into both the mechanical and control layers, bionic limbs can become more intuitive, robust, and responsive. These efforts aim to support the development of a new generation of prosthetic technologies that can enhance mobility, independence, and quality of life.

Linear integrators are well known for their ability to counter static forces and improve low-frequency disturbance rejection properties in control systems. However, linear integrators introduce phase lag, which is a frequency-dependent time shift or delay. Since the early introduction of the Clegg integrator, nonlinear integrators have held the promise of providing phase advantages over linear integrators. For five currently known nonlinear integrators, an overview is provided of recent developments in stage motion control. Benchmark examples are taken from the industrial practice of wafer scanners, which form the pivotal machines used in the manufacturing of computer chips.