A Robotic Leg Prosthesis: Design, Control, and Implementation


This text describes the look and control of a powered knee and ankle prosthesis for transfemoral amputees. Following an outline of the design hardware, a hybrid management approach that has coordination for level walking is described. The hybrid management approach combines a piecewise-passive impedance-based mostly part throughout the stance phase of gait with a high impedance trajectory-tracking component during the terminal stance and swing. To validate the look, the controller was implemented on the powered prosthesis prototype, and its ability to provide level walking functionality was evaluated on three transfemoral amputee subjects. The info presented from these experimental trials indicate that the prosthesis and management approach reproduce knee and ankle joint kinematic and kinetic features that are highly representative of corresponding healthy joint biomechanics.

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