title: A walking controller for a powered ankle prosthesis.
abstract: This paper describes a walking controller implemented on a powered ankle prosthesis prototype and assessed by a below-knee amputee subject on a treadmill at three speeds. The walking controller is a finite state machine which emulates a series of passive impedance functions at the joint in order to reproduce the behavior of a healthy joint. The assessments performed demonstrate the ability of the powered prosthesis prototype and walking controller to reproduce essential biomechanical aspects (i.e. joint angle, torque, and power profiles) of the healthy joint, especially relative to a passive prosthesis.
authors.forename: Amanda H
authors.initials: AH
authors.lastname: Shultz
authors.forename: Jason E
authors.initials: JE
authors.lastname: Mitchell
authors.forename: Don
authors.initials: D
authors.lastname: Truex
authors.forename: Brian E
authors.initials: BE
authors.lastname: Lawson
authors.forename: Elissa
authors.initials: E
authors.lastname: Ledoux
authors.forename: Michael
authors.initials: M
authors.lastname: Goldfarb
mesh_terms: D000328:Adult; D000674:Amputees; D000843:Ankle Joint / Q000502:physiology*; D001696:Biomechanical Phenomena; D004560:Electricity; D006801:Humans; D007595:Joint Prosthesis; D007700:Kinetics; D008297:Male; D011474:Prosthesis Design; D016138:Walking / Q000502:physiology*