Ambulation Control System Design for a Hybrid Knee Prosthesis

Ann M. Simon*, Frank Ursetta, Kunal Shah, Michael Stephens, Andrea J. Ikeda, Suzanne B. Finucane, Emoonah McClerklin, Jim Lipsey, Levi J. Hargrove

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Prosthetic knees available to individuals with transfemoral amputation seek to restore functional ability to the user. Passive prosthetic knees are lightweight but can restore only limited, dissipative ambulation activities whereas active knees can provide energy to restore additional ambulation activities such as stair climbing and standing up from a chair. Semi-active prosthetic devices aim to only power a subset of activities and use passive components and control when that power is not necessary. Here, we outline an ambulation control system for a lightweight Hybrid Knee prosthesis that is powered for climbing stairs and passive for other ambulation activities (level-ground walking, walking on an incline, and stair descent). We include preliminary offline and online intent recognition system results for one able-bodied user and one individual with a transfemoral amputation demonstrating low error rates in predicting between active and passive control.

Original languageEnglish (US)
Title of host publication2022 International Conference on Rehabilitation Robotics, ICORR 2022
PublisherIEEE Computer Society
ISBN (Electronic)9781665488297
StatePublished - 2022
Event2022 International Conference on Rehabilitation Robotics, ICORR 2022 - Rotterdam, Netherlands
Duration: Jul 25 2022Jul 29 2022

Publication series

NameIEEE International Conference on Rehabilitation Robotics
ISSN (Print)1945-7898
ISSN (Electronic)1945-7901


Conference2022 International Conference on Rehabilitation Robotics, ICORR 2022

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Rehabilitation
  • Electrical and Electronic Engineering


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