Unified Lower-Limb Prosthetic Control Strategy


Non-Confidential Description:

    This technology defines a novel control strategy for a powered prosthetic leg that unifies the entire gait cycle, eliminating the need to switch between controllers during different periods of gait. Current control methods divide the gait cycle into several sequential periods with independent controllers, resulting in many patient-specific control parameters and switching rules that must be tuned by clinicians. Having a single controller could reduce the number of control parameters to be tuned for each patient, thereby reducing the clinical time and effort involved in fitting a powered prosthesis for a lower-limb amputee. The control system regulates a single output function that characterizes the desired actuated joint motion over the entire gait cycle, where the progression through the joint pattern(s) is controlled by a mechanical phasing variable.