Lower-limb prostheses aim to restore ambulatory function for individuals with lower-limb
amputations. While the design of lower-limb prostheses is important, this paper focuses on …

Gait analysis has traditionally been carried out in a laboratory environment using expensive
equipment, but, recently, reliable, affordable, and wearable sensors have enabled …

Control systems for powered prosthetic legs typically divide the gait cycle into several
periods with distinct controllers, resulting in dozens of control parameters that must be tuned …

Positive biomechanical outcomes have been reported with lower limb exoskeletons in
laboratory settings, but these devices have difficulty delivering appropriate assistance in …

Powered knee and ankle prostheses can perform a limited number of discrete ambulation
tasks. This is largely due to their control architecture, which uses a finite-state machine to …

Supernumerary robotic limbs (SRLs) are a new type of wearable human auxiliary
equipment, which is currently a hot research topic in the world. SRLs have broad …

User gait phase estimation plays a key role for the seamless control of the lower-limb robotic
assistive devices (eg, exoskeletons or prostheses) during ambulation. To achieve this …

Gait phase recognition is of great importance in the development of assistance-as-needed
robotic devices, such as exoskeletons. In order for a powered exoskeleton with phase-based …

Most controllers for lower-limb robotic prostheses require individually tuned parameter sets
for every combination of speed and incline that the device is designed for. Because …

Objective: This paper describes a gait classification method that utilizes measured motion of
the thigh segment provided by an inertial measurement unit. Methods: The classification …