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Related Experiment Video

Updated: Jun 4, 2026

Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis

Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis

Published on: July 22, 2014

Complementary limb motion estimation for the control of active knee prostheses.

Heike Vallery¹, Rainer Burgkart, Cornelia Hartmann

¹Sensory-Motor Systems Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Switzerland. hvallery@ethz.ch

Biomedizinische Technik. Biomedical Engineering

|February 10, 2011

Summary

Researchers developed a new control method for prosthetic knees to restore walking after transfemoral amputation. This complementary limb motion estimation (CLME) strategy enables user-dominated gait, showing promise for improved mobility.

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Published on: May 8, 2014

Area of Science:

Biomedical Engineering
Rehabilitation Robotics
Biomechanics

Background:

Restoring natural walking after transfemoral amputation is challenging.
Existing actuated exoprostheses require effective control for user-dominated gait.
Deducing intended limb motion from residual body movement is a key area of research.

Purpose of the Study:

To introduce and evaluate a novel control strategy, complementary limb motion estimation (CLME), for active knee exoprostheses.
To enable user-dominated gait by estimating missing limb motion based on physiological gait coordination.
To assess the performance of CLME in a pilot study with an above-knee amputee.

Main Methods:

Developed a generic method to estimate intended limb motion from residual human body motion using statistical regression.
Applied the CLME strategy to control a custom-built, one-degree-of-freedom motor-driven prosthetic knee.
Conducted a pilot study with one above-knee amputee performing treadmill walking and stair negotiation.

Main Results:

The subject successfully walked on a treadmill at varying speeds using the CLME-controlled prosthesis.
Assistance was required for stair ascent and descent, particularly during descent.
Promising results were observed, with performance compared to the subject's existing C-Leg prosthesis.

Conclusions:

The complementary limb motion estimation (CLME) strategy shows potential for controlling active knee exoprostheses.
CLME facilitates user-dominated gait, particularly for level walking.
Further refinement is needed to optimize performance for complex activities like stair negotiation.