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 …

Human locomotion involves continuously variable activities including walking, running, and
stair climbing over a range of speeds and inclinations as well as sit-stand, walk-run, and …

Most impedance-based walking controllers for powered knee–ankle prostheses use a finite
state machine with dozens of user-specific parameters that require manual tuning by …

Powered knee-ankle prostheses can offer benefits over conventional passive devices during
stair locomotion by providing biomimetic net-positive work and active control of joint angles …

Gait phase-based control is a trending research topic for walking-aid robots, especially
robotic lower-limb prostheses. Gait phase estimation is a challenge for gait phase-based …

Individuals using passive prostheses typically rely heavily on their biological limb to
complete sitting and standing tasks, leading to slower completion times and increased rates …

Although emerging powered prostheses can enable people with lower-limb amputation to
walk and climb stairs over different task conditions (eg, speeds and inclines), the control …

Passive prostheses cannot provide the net positive work required at the knee and ankle for
step-over stair ascent. Powered prostheses can provide this net positive work, but user …

Human gait phase estimation has been studied in the field of robotics due to its importance
in controlling wearable devices (eg, robotic prostheses or exoskeletons) in a synchronized …

Powered lower-limb prostheses have shown promise in hel** individuals with amputation
regain functionality that passive prostheses cannot provide. However, the best method for …