This article describes the design and control of a powered knee and ankle prosthesis for
transfemoral amputees. Following a description of the design hardware, a hybrid control …

This paper presents a thorough review of the initiatives carried out in the last 10 years
toward the development of active knee prostheses (AKP) for transfemoral amputees. Three …

This paper presents the design and validation of a novel lower limb prosthesis called the
variable stiffness foot (VSF), designed to vary its forefoot stiffness in response to user activity …

Although there has been recent progress in control of multi-joint prosthetic legs for rhythmic
tasks such as walking, control of these systems for non-rhythmic motions and general real …

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 …

This paper assesses the metabolic effort exerted by three transfemoral amputees, when
using a powered knee and ankle prosthesis for stair ascent, relative to ascending stairs with …

In this paper, we propose the design and experimental validation of an electro-hydrostatic
actuator, as an alternative to traditional actuation technologies, for a powered knee …

Although there has been recent progress in control of multi-joint prosthetic legs for periodic
tasks such as walking, volitional control of these systems for non-periodic maneuvers is still …

Achieving compliance and flexibility under the premise of ensuring trajectory tracking
performance and also reflecting the wearer's movement intention, has not yet been well …

A robust adaptive admittance control scheme using human-inspired virtual constraints was
presented for a robotic knee prosthesis. The controller is able to deal with the wearer's …