Standing stability enhancement with an intelligent powered transfemoral prosthesis

Brian Edward Lawson, Huseyin Atakan Varol, Michael Goldfarb

Research output: Contribution to journalArticlepeer-review

44 Citations (Scopus)


The authors have developed a ground-adaptive standing controller for a powered knee and ankle prosthesis which is intended to enhance the standing stability of transfemoral amputees. The finite-state-based controller includes a ground-searching phase, a slope estimation phase, and a joint impedance modulation phase, which together enable the prosthesis to quickly conform to the ground and provide stabilizing assistance to the user. In order to assess the efficacy of the ground-adaptive standing controller, the control approach was implemented on a powered knee and ankle prosthesis, and experimental data were collected on an amputee subject for a variety of standing conditions. Results indicate that the controller can estimate the ground slope within ±1° over a range of ±15°, and that it can provide appropriate joint impedances for standing on slopes within this range.

Original languageEnglish
Article number5898396
Pages (from-to)2617-2624
Number of pages8
JournalIEEE Transactions on Biomedical Engineering
Issue number9
Publication statusPublished - Sep 2011


  • Ground adaptation
  • inertial measurement
  • lower-limb prosthesis
  • powered prosthesis
  • transfemoral prosthesis

ASJC Scopus subject areas

  • Biomedical Engineering

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