The paper describes the design and control of a transfemoral prosthesis with powered knee and ankle joints. The initial prototype is a pneumatically actuated powered-tethered device, which is intended to serve as a laboratory test bed for a subsequent self-powered version. The prosthesis design is described, including its kinematic optimization and the design of a three-axis socket load cell that measures the forces and moments of interaction between the socket and prosthesis. A gait controller is proposed based on the use of passive impedance functions that coordinates the motion of the prosthesis with the user during level walking. The control approach is implemented on the prosthesis prototype and experimental results are shown that demonstrate the promise of the active prosthesis and control approach in restoring fully powered level walking to the user.

中文翻译：

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动力经股假体的设计与控制

该论文描述了具有动力膝关节和踝关节的经股骨假体的设计和控制。最初的原型是气动驱动的动力系留设备，旨在作为后续自供电版本的实验室测试台。描述了假肢设计，包括其运动学优化和三轴承窝称重传感器的设计，用于测量承窝和假肢之间相互作用的力和力矩。基于使用无源阻抗函数的步态控制器被提出，该函数在水平行走期间协调假肢与用户的运动。