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Related Experiment Video

Updated: May 25, 2026

Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis
11:16

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

Published on: July 22, 2014

Ground adaptive standing controller for a powered transfemoral prosthesis.

Brian E Lawson, Huseyin Atakan Varol, Michael Goldfarb

    IEEE ... International Conference on Rehabilitation Robotics : [Proceedings]
    |January 26, 2012
    PubMed
    Summary

    This study introduces a new controller for powered prostheses, enabling stable standing on uneven ground by adapting to slopes. The advanced design accurately estimates and responds to terrain variations for amputee users.

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    Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis
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    Published on: July 22, 2014

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    Published on: June 16, 2016

    Area of Science:

    • Biomedical Engineering
    • Robotics
    • Prosthetics and Orthotics

    Background:

    • Powered prostheses require advanced control for stable standing.
    • Existing controllers may struggle with unlevel terrain adaptation.

    Purpose of the Study:

    • To design and verify a novel standing controller for a powered knee-ankle prosthesis.
    • To incorporate ground adaptation for unlevel terrain into the controller.

    Main Methods:

    • Finite-state impedance control approach.
    • Development and testing of a new standing controller.
    • Evaluation with an amputee subject using a powered prosthesis.

    Main Results:

    • The powered prosthesis accurately estimated ground slope (±1 degree) on slopes up to ±15 degrees.
    • Appropriate joint impedances were provided for stable standing on slopes within the tested range.

    Conclusions:

    • The new controller enables comprehensive standing behavior, including ground adaptation.
    • The system demonstrates effective performance for amputee users on varied terrain.