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Related Concept Videos

Ankle Joint01:10

Ankle Joint

3.8K
The ankle is formed by the talocrural joint (crural = leg). It consists of the articulations between the talus bone of the foot and the distal ends of the tibia and fibula of the leg. The superior aspect of the talus bone is square-shaped and has three areas of articulation. The top of the talus articulates with the inferior tibia. This is the portion of the ankle joint that carries the body weight between the leg and foot. The sides of the talus are firmly held in position by the articulations...
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PD Controller: Design01:26

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In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
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Related Experiment Video

Updated: Apr 18, 2026

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

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A walking controller for a powered ankle prosthesis.

Amanda H Shultz, Jason E Mitchell, Don Truex

    Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
    |January 9, 2015
    PubMed
    Summary
    This summary is machine-generated.

    This study presents a novel walking controller for a powered ankle prosthesis, successfully emulating healthy joint function in a below-knee amputee. The powered prosthesis demonstrated superior biomechanical performance compared to passive devices.

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    Area of Science:

    • Biomedical Engineering
    • Rehabilitation Robotics
    • Prosthetics and Orthotics

    Background:

    • Below-knee amputees often face challenges with natural gait due to limitations in conventional prosthetic devices.
    • Powered ankle prostheses offer potential for improved mobility and reduced metabolic cost.
    • Developing effective control strategies is crucial for harnessing the benefits of powered prostheses.

    Purpose of the Study:

    • To implement and evaluate a finite state machine walking controller for a powered ankle prosthesis prototype.
    • To assess the controller's ability to replicate healthy ankle joint biomechanics.
    • To compare the performance of the powered prosthesis with a passive prosthesis.

    Main Methods:

    • A finite state machine walking controller was developed, emulating passive impedance functions.
    • The controller was implemented on a powered ankle prosthesis prototype.
    • Assessments were conducted with a below-knee amputee subject on a treadmill at three different speeds.

    Main Results:

    • The powered ankle prosthesis prototype with the developed controller successfully reproduced essential biomechanical aspects of a healthy ankle joint.
    • Key parameters such as joint angle, torque, and power profiles were closely emulated.
    • Significant improvements in biomechanical reproduction were observed compared to a passive prosthesis.

    Conclusions:

    • The finite state machine walking controller effectively enables a powered ankle prosthesis to mimic healthy joint behavior.
    • The powered prosthesis prototype shows promise for enhancing gait in individuals with below-knee amputations.
    • This technology offers a significant advancement over traditional passive prosthetic devices.