Mechanism and Controller Design of a Transfemoral Prosthesis With Electrohydraulic Knee and Motor-Driven Ankle

This article presents a robotic transfemoral prosthesis that consists of an electrohydraulic knee and a motor-driven ankle. The electrohydraulic knee includes a controllable hydraulic damper to provide stance control and an electrical actuator to provide swing assistance. The motor-driven ankle provides damping adaptation for different terrains. The embedded finite-state-based controller enables t...