Methods and systems for controlling a prosthetic or orthotic device

Abstract

A prosthetic or orthotic device (POD) can include first and second limb members coupled at a joint, an actuator, and a controller. The actuator can be configured to actuate the first limb member relative to the second limb member. The controller can cause the actuator to exhibit a force rejection behavior during a portion of stance phase and cause the actuator to exhibit a force following behavior during a portion of swing phase. The controller can, based on a determination that a gait parameter satisfies a gait parameter threshold, cause the actuator to at least one of: apply a first torque at the joint to cause the POD to flex during a portion of stance phase, decelerate flexion of the POD during at least a first portion of the swing phase, or decelerate extension of the POD during at least a second portion of the swing phase.

CPC Classifications