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 …

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 …

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 …

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 …

One challenge to achieving widespread success of augmentative exoskeletons is accurately
adjusting the controller to provide cooperative assistance with their wearer. Often, the …

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 …

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 …

Powered exoskeletons need actuators that can generate substantial assistive torque and
orthoses that can efficiently transfer the assistive torque to the user. Powered exoskeletons …

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 …

Powered prostheses can enable individuals with above-knee amputations to ascend stairs
step-over-step. To accomplish this task, available stair ascent controllers impose a …