A lightweight robotic leg prosthesis replicating the biomechanics of the knee, ankle, and toe joint
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 …
individuals with lower-limb amputations by imitating the biomechanics of the missing …
User preference optimization for control of ankle exoskeletons using sample efficient active learning
One challenge to achieving widespread success of augmentative exoskeletons is accurately
adjusting the controller to provide cooperative assistance with their wearer. Often, the …
adjusting the controller to provide cooperative assistance with their wearer. Often, the …
Toward the development of user-centered neurointegrated lower limb prostheses
The last few years witnessed radical improvements in lower-limb prostheses. Researchers
have presented innovative solutions to overcome the limits of the first generation of …
have presented innovative solutions to overcome the limits of the first generation of …
Taking both sides: seeking symbiosis between intelligent prostheses and human motor control during locomotion
Robotic lower limb prostheses aim to replicate the power-generating capability of biological
joints during locomotion to empower individuals with lower limb loss. However, recent …
joints during locomotion to empower individuals with lower limb loss. However, recent …
Powered hip exoskeleton improves walking economy in individuals with above-knee amputation
Above-knee amputation severely reduces the mobility and quality of life of millions of
individuals. Walking with available leg prostheses is highly inefficient, and poor walking …
individuals. Walking with available leg prostheses is highly inefficient, and poor walking …
Data-driven variable impedance control of a powered knee–ankle prosthesis for adaptive speed and incline walking
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 …
state machine with dozens of user-specific parameters that require manual tuning by …
A powered hip exoskeleton with high torque density for walking, running, and stair ascent
Powered exoskeletons need actuators that can generate substantial assistive torque and
orthoses that can efficiently transfer the assistive torque to the user. Powered exoskeletons …
orthoses that can efficiently transfer the assistive torque to the user. Powered exoskeletons …
Powered knee and ankle prosthesis with indirect volitional swing control enables level-ground walking and crossing over obstacles
Powered prostheses aim to mimic the missing biological limb with controllers that are finely
tuned to replicate the nominal gait pattern of non-amputee individuals. Unfortunately, this …
tuned to replicate the nominal gait pattern of non-amputee individuals. Unfortunately, this …
Advancements, trends and future prospects of lower limb prosthesis
Amputees with lower limb loss need special care during daily life activities to make the
movement natural as before amputation. No such work exists covering the main aspects …
movement natural as before amputation. No such work exists covering the main aspects …
Powered knee and ankle prostheses enable natural ambulation on level ground and stairs for individuals with bilateral above-knee amputation: a case study
Ambulation with existing prostheses is extremely difficult for individuals with bilateral above-
knee amputations. Commonly prescribed prostheses are passive devices that cannot …
knee amputations. Commonly prescribed prostheses are passive devices that cannot …