Real-time simulation of a powered prosthetic leg using output linearization to achieve biomimetic effective shapes for the knee and ankle (i.e., a constant-curvature trajectory for the center of pressure in both thigh-based and shank-based coordinate frames). Prosthetic leg during stance phase shown in solid gray and body/swing leg shown in dashed black. The effective radii of the ankle-foot and knee-ankle-foot shapes are respectively shown by blue and red dotted lines with a circle indicating the center of rotation. The center of pressure is shown as a green circle on the plantar sole.

Loading more stuff…

Hmm…it looks like things are taking a while to load. Try again?

Loading videos…