Preliminary evaluations of a self-contained anthropomorphic transfemoral prosthesis

Frank Sup, Huseyin Atakan Varol, Jason Mitchell, Thomas J. Withrow, Michael Goldfarb

Research output: Contribution to journalArticlepeer-review

203 Citations (Scopus)


This paper presents a self-contained powered knee and ankle prosthesis, intended to enhance the mobility of transfemoral amputees. A finite-state based impedance control approach, previously developed by the authors, is used for the control of the prosthesis during walking and standing. Experiments on an amputee subject for level treadmill and overground walking are described. Knee and ankle joint angle, torque, and power data taken during walking experiments at various speeds demonstrate the ability of the prosthesis to provide a functional gait that is representative of normal gait biomechanics. Measurements from the battery during level overground walking indicate that the selfcontained device can provide more than 4500 strides, or 9 km, of walking at a speed of 5.1 km/h between battery charges.

Original languageEnglish
Article number5308292
Pages (from-to)667-676
Number of pages10
JournalIEEE/ASME Transactions on Mechatronics
Issue number6
Publication statusPublished - Dec 2009


  • Biomechatronics
  • Gait analysis
  • Impedance control
  • Mechanical system design
  • Powered prosthesis

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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