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Related Experiment Video

Updated: Jul 18, 2025

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

A Review of Current State-of-the-Art Control Methods for Lower-Limb Powered Prostheses.

Rachel Gehlhar¹, Maegan Tucker¹, Aaron J Young^2,3

¹Department of Mechanical and Civil Engineering, California Institute of Technology, 1200 E. California Blvd., Pasadena, 91125, CA, USA.

Annual Reviews in Control

|August 28, 2023

Summary

This summary is machine-generated.

This review explores control strategies for powered lower-limb prostheses, focusing on high- and mid-level control for enhanced ambulatory function in amputees. It categorizes methods and discusses customization and future research directions.

Keywords:

control lower-limb prostheses robotics user-customization

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A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

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Published on: November 6, 2015

Area of Science:

Biomedical Engineering
Robotics
Rehabilitation Technology

Background:

Lower-limb prostheses restore walking function for amputees.
Powered prostheses use actuators to assist human gait.
Effective control is crucial for prosthesis performance.

Purpose of the Study:

To review existing control strategies for powered lower-limb prostheses.
To categorize control methods into high-, mid-, and low-level tiers.
To discuss customization and future research in prosthesis control.

Main Methods:

Categorization of control strategies based on function (task/gait phase estimation, torque computation, command enforcement).
Focus on high-level (task/gait estimation) and mid-level (torque computation) control.
Review of sensing capabilities and control methodologies.

Main Results:

Identified three tiers of prosthesis control: high-level, mid-level, and low-level.
Detailed various control objectives, sensing capabilities, and methodologies within these tiers.
Highlighted methods for individual user customization.

Conclusions:

Current control methods offer potential for improved prosthetic function.
Further research is needed to address open problems in powered lower-limb prosthesis control.
Advancements in control are key to enhancing ambulatory restoration for amputees.