A Robotic Leg Prosthesis: Design, Control, and Implementation

This article describes the design and control of a powered knee and ankle prosthesis for transfemoral amputees. Following a description of the design hardware, a hybrid control approach that provides coordination for level walking is described. The hybrid control approach combines a piecewise-passive impedance-based component during the stance phase of gait with a highimpedance trajectory-tracking component during the terminal stance and swing. To validate the design, the controller was implemented on the powered prosthesis prototype, and its ability to provide level walking functionality was evaluated on three transfemoral amputee subjects. The data presented from these experimental trials indicate that the prosthesis and control approach reproduce knee and ankle joint kinematic and kinetic features that are highly representative of corresponding healthy joint biomechanics.