This paper aims to develop a knowledge base and identify the promising research pathways
toward designing lower limb prostheses for optimal biomechanical and clinical outcomes. It …

There are different alternatives when selecting removable prostheses for below the knee
amputated patients. The designs of these prostheses vary according to their different …

This paper describes a semi-powered ankle prosthesis and corresponding unified controller
that provides biomimetic behavior for level and sloped walking without requiring …

Foot performance plays an important role in the walking-style robot walking in complex
ground. This paper proposes a new foot structure based on the mast-type octahedral …

Individuals post-stroke experience persisting gait deficits due to altered joint mechanics,
known clinically as spasticity, hypertonia, and paresis. In engineering, these concepts are …

This paper describes the design, control, and preliminary assessment of a novel
microprocessor-controlled multifunction ankle prosthesis that provides three microprocessor …

Quasi-stiffness characterizes the dynamics of a joint in specific sections of stance-phase and
is used in the design of wearable devices to assist walking. We sought to investigate the …

Aim: Assistive technologies traditionally rely on either powered actuation or passive
structures to provide increased strength, support or the ability to perform specific functions …

In this study, a powered ankle-foot prosthesis driven by a nonlinear parallel elastic actuator
(PEA) is developed and tested. A finite state impedance controller is utilized to identify the …

Ankle push-off power plays an important role in healthy walking, contributing to center-of-
mass acceleration, swing leg dynamics, and accounting for 45% of total leg power. The …