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Related Concept Videos

Bones of the Lower Limb: Femur and Patella01:16

Bones of the Lower Limb: Femur and Patella

The femur is the body's longest and strongest bone spanning the thigh region. Its head articulates with the acetabulum of the hip bone to form the hip joint. A minor indentation on the medial side of the femoral head, called the fovea capitis, serves as the site of attachment for the ligament of the head of the femur. This weak ligament spans the femur and acetabulum and supports the hip joint. The narrowed region below the head is the neck of the femur. The inclination angle between the neck...
Bones of the Lower Limb: Tibia and Fibula01:10

Bones of the Lower Limb: Tibia and Fibula

The tibia is the main weight-bearing bone of the lower leg. It is larger than the fibula with which it is paired. The tibia is also the second longest bone in the body and is located right below the skin. The proximal end of the tibia forms the medial and the lateral condyle, which articulates with the condyles of the femur to form the knee joint. Between the articulating surfaces is the irregular elevated area known as the intercondylar eminence that serves as the inferior attachment point for...
Knee Joint01:23

Knee Joint

The knee joint is the most complicated joint in the body. It consists of three articulations– two tibiofemoral and one patellofemoral. As is characteristic of synovial joints, the knee joint has a thin articular capsule that partially surrounds this joint cavity. Additionally, several ligaments, muscles, and cartilaginous structures support the movement of the knee.
A total of seven ligaments support the knee joint. The patellar ligament, which is also attached to the quadriceps femoris group...
Ankle Joint01:10

Ankle Joint

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...
Muscles that Move the Leg01:23

Muscles that Move the Leg

The movement of the legs is facilitated by numerous muscles located within the anterior, medial, and posterior compartments of the thigh.
Anterior Compartment
The quadriceps femoris, the most visible muscle of the anterior compartment, is integral for leg extension and thigh flexion. It is formed by merging four distinct muscles — the vastus lateralis, vastus medialis, vastus intermedius, and rectus femoris. The quadriceps tendon, a shared tendon of the four quadriceps muscles, is affixed to...
Muscles of the Leg that Move the Foot and Toes01:28

Muscles of the Leg that Move the Foot and Toes

The human leg comprises an intricate system of muscles that facilitate the movement of feet and toes. Within this system, the muscles are categorized into the anterior, lateral, and posterior compartments, each with a unique set of muscles carrying out specific functions.
Anterior Compartment
The anterior compartment includes muscles that contribute to the dorsiflexion of the foot. This compartment houses the tibialis anterior, extensor hallucis longus, and extensor digitorum longus muscles.

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Related Experiment Video

Updated: Jun 27, 2026

Oscillation and Reaction Board Techniques for Estimating Inertial Properties of a Below-knee Prosthesis
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Ambilateral Activity Recognition and Continuous Adaptation with a Powered Knee-Ankle Prosthesis.

Shihao Cheng1, Curt A Laubscher1, T Kevin Best1

  • 1Department of Robotics, University of Michigan, Ann Arbor, MI, 48109 USA.

IEEE Transactions on Robotics : a Publication of the IEEE Robotics and Automation Society
|July 21, 2025
PubMed
Summary

This study simplifies activity classification for powered prosthetic legs, enabling reliable transitions between daily activities like sitting, standing, and walking on varied inclines. This enhances usability for transfemoral amputees.

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

  • Biomedical Engineering
  • Robotics
  • Rehabilitation Engineering

Background:

  • Powered prosthetic legs require accurate activity classification for real-world use.
  • Current systems often involve complex, high-dimensional feature spaces and transition limitations.

Purpose of the Study:

  • To develop a straightforward activity classification system for powered prosthetic legs.
  • To reduce the complexity of state transitions for enhanced prosthetic leg functionality.

Main Methods:

  • Delegated sit/stand and variable-incline walking to a mid-level controller, reducing classification to four states.
  • Implemented heuristic rules using kinematic features, ground contact, inclination, and ultrasonic sensor data.
  • Tested with two transfemoral amputee subjects using a powered knee-ankle prosthesis.

Main Results:

  • Achieved 99.2% ambilateral transition accuracy in self-paced and fatiguing conditions.
  • Demonstrated a 100% recovery rate with backup logic and user-cued resets.
  • Enabled continuous adaptation to inclines without explicit classification.

Conclusions:

  • Simple heuristic transition logic enhances the reliability of powered prosthetic legs.
  • The system supports a broad range of daily activities, improving prosthetic leg viability.
  • Outdoor multi-terrain demonstrations confirm real-world applicability.