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Related Experiment Video

Updated: Feb 27, 2026

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 Personalized Gait Parameter Prediction-Based Speed-Adaptive Control Method for Hybrid Active-Passive Intelligent

Xiaoming Wang¹, Yuanhua Li¹, Hui Li¹

¹School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.

Biomimetics (Basel, Switzerland)

|February 26, 2026

Summary

This study introduces a smart prosthetic knee that adapts to individual walking styles and speeds. It significantly improves gait symmetry and naturalness for users by predicting personalized gait parameters.

Keywords:

fuzzy logic control gait parameter prediction hybrid actuation personalized speed adaptation prosthetic knee

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Last Updated: Feb 27, 2026

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Area of Science:

Biomedical Engineering
Robotics
Rehabilitation Technology

Background:

Current prosthetic knees struggle with personalized adaptation to user gait and walking speed.
Lack of real-time adjustment leads to unnatural gait and potential asymmetry.

Purpose of the Study:

To develop a speed-adaptive control method for a hybrid active-passive intelligent prosthetic knee (HAPK).
To achieve personalized gait control by predicting individual gait parameters.
To enhance user mobility and reduce gait asymmetry.

Main Methods:

A perceptron-based model predicts individualized gait parameters from anthropometric data and walking speed.
Fuzzy logic damping control (swing phase) and position-torque control (stance extension) enable real-time adaptation.
A hybrid actuation system combines hydraulic damping and motor torque assistance.

Main Results:

The proposed control method reduced stance and swing asymmetries by 30-38%.
Achieved smoother and more natural gait transitions compared to fixed-gait controls.
Demonstrated effectiveness in variable-speed walking tests.

Conclusions:

The personalized gait parameter prediction-based control is effective for intelligent prosthetic knees.
The HAPK system offers continuous, personalized, and speed-consistent gait control.
This approach enhances prosthetic limb functionality and user experience.