Lower-limb prostheses aim to restore ambulatory function for individuals with lower-limb
amputations. While the design of lower-limb prostheses is important, this paper focuses on …

This paper presents a control system for a powered transtibial prosthesis that provides stair
ascent and descent capability, as well as ability for user-controlled transitions between …

Lower-limb prostheses provide a prime example of cyber-physical systems (CPSs) requiring
the synergistic development of sensing, algorithms, and controllers. With a view towards …

Intent recognition is a data-driven alternative to expert-crafted rules for triggering transitions
between pre-programmed activity modes of a powered leg prosthesis. Movement-related …

This letter presents a method of designing relative-degree-two nonholonomic virtual
constraints (NHVCs) that allow for stable bipedal robotic walking across variable terrain …

Lower leg prostheses could improve the life quality of amputees by increasing comfort and
reducing energy to locomote, but currently control methods are limited in modulating …

This article presents a method to design a nonholonomic virtual constraint (NHVC) controller
that produces multiple distinct stance-phase trajectories for corresponding walking speeds …

In this work we combine computer vision and a machine learning algorithm, Convolutional
Neural Networks (CNNs), to identify obstacles that powered prosthetic leg users might …

To improve the multi-speed adaptability of the powered prosthetic knee, this paper
presented a speed-adaptive neural network control based on a powered geared five-bar …

Powered transfemoral prostheses are robotic systems that aim to restore the mobility of
transfemoral amputees by mimicking the functionalities of healthy human legs. The …