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 …

The knee joint, as the main lower limb motor joint, is the most vulnerable and susceptible
joint. The knee injuries considerably impact the normal living ability and mental health of …

Robotic leg prostheses promise to improve the mobility and quality of life of millions of
individuals with lower-limb amputations by imitating the biomechanics of the missing …

Currently, the mobility of above-knee amputees is limited by the lack of available prostheses
that can efficiently replicate biologically accurate movements. In this study, a powered knee …

Most commercially available prosthetic feet do not exhibit a biomimetic torque-angle
relationship, and are unable to modulate their mechanics to assist with other mobility tasks …

Human joint impedance is the dynamic relationship between the differential change in the
position of a perturbed joint and the corresponding response torque; it is a fundamental …

The human ankle joint plays a critical role during walking and understanding the
biomechanical factors that govern ankle behavior and provides fundamental insight into …

In human locomotion, we continuously modulate joint mechanical impedance of the lower
limb (hip, knee, and ankle) either voluntarily or reflexively to accommodate environmental …

This work presents an electrophysiologically and dynamically consistent musculoskeletal
model to predict stiffness in the human ankle and knee joints as derived from the joints …

This review paper provides a synthetic yet critical overview of the key biomechanical
principles of human bipedal walking and their current implementation in robotic platforms …