Supplementary viewable material for the paper:
R. D. Gregg, T. Lenzi, N. P. Fey, L. J. Hargrove, and J. W. Sensinger, "Experimental Effective Shape Control of a Powered Transfemoral Prosthesis," IEEE International Conference on Rehabilitation Robotics, Seattle, WA, 2013.

Summary: The prosthetic knee and ankle joints are controlled by virtual constraints corresponding to the effective shapes of the ankle-foot and knee-ankle-foot complexes. An able-bodied subject walks on the prosthetic leg using a by-pass adapter.

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