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Updated: Jun 21, 2025

Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis
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Intuitive and versatile bionic legs: a perspective on volitional control.

Matthias Voß1, Anne D Koelewijn1, Philipp Beckerle1,2

  • 1Chair of Autonomous Systems and Mechatronics, Department Electrical Engineering, Friedrich-Alexander-Universität Erlangen-Nürnberg, Erlangen, Germany.

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Summary
This summary is machine-generated.

Future active lower limb prostheses require versatile control architectures for full volitional control. Combining motor control signals with simulated feedback and online optimization can enhance everyday use for prosthesis users.

Keywords:
bionic legselectromyographyhuman-in-the-loop optimizationlower limb prosthesesvoluntary control

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Area of Science:

  • Biomedical Engineering
  • Rehabilitation Robotics
  • Neuroprosthetics

Background:

  • Active lower limb prostheses offer significant advantages over passive devices in terms of energy, balance, and versatility.
  • Control remains a primary challenge, with diverse existing approaches.
  • Prosthesis users face unique daily challenges impacting device usability.

Purpose of the Study:

  • To propose a future control approach for active lower limb prostheses.
  • To enhance the everyday lives of prosthesis users through improved control.
  • To provide a research roadmap for achieving advanced prosthesis control.

Main Methods:

  • Reviewing existing literature on user needs and control strategies for lower limb prostheses.
  • Categorizing current control approaches based on volitional user input.
  • Proposing novel combinations of established control methods, including feed-forward motor control and simulated feedback loops.
  • Incorporating online optimization for system parameter individualization.

Main Results:

  • Identified limitations of current control methods for universal, everyday use.
  • Proposed a framework for versatile control architectures enabling full volitional control.
  • Highlighted the potential of combining feed-forward and feedback control with adaptive optimization.

Conclusions:

  • Versatile control architectures are crucial for active lower limb prostheses.
  • Integrating volitional user input with advanced control techniques can significantly improve user experience.
  • A research roadmap combining established and novel methods is essential for future developments in prosthesis control.