The ankle joint of currently available powered prostheses is capable of controlling one
degree of freedom (DOF), focusing on improved mobility in the sagittal plane. To increase …

The human gait shows significant differences in the ankle movements during turning and
sidestep cutting compared to straight walking, especially in frontal plane. This suggests that …

This paper introduces a finite state machine to select between impedance and admittance
control for a powered ankle-foot prosthesis controllable in both Dorsiflexion-Plantarflexion …

Managing the soft tissues of residual limbs in individuals with lower limb amputations
presents a significant challenge. Unlike the plantar tissues of an intact foot, the soft tissues of …

The main goal of the research presented in this paper is the development of a powered
ankle-foot prosthesis with anthropomorphic characteristics to facilitate turning, walking on …

A simulation was developed which mimics the human gait characteristics based on the input
of an individual's gait trajectory. This simulation also estimates the impedance of the human …

The physical rehabilitation of individuals with lower limb loss has traditionally been guided
by a device driven paradigm, with much less attention, if any, allocated to the manner in …

The ankle joint of lower extremity powered prostheses are generally designed to be capable
of controlling a single degree of freedom (DOF) in the sagittal plane, allowing a focus on …