Finite-state control of a trans-femoral (TF) prosthesis

A nonanalytic (soft) finite-state control was developed for a controlled trans-femoral (TF) prosthesis. The control and actions are performed according to a rule-base written in a natural language. A systematic procedure of developing a knowledge base prosthesis controller and an effective way for estimating the gait speed are presented. The prosthesis prototype with sensing, microcomputer based electronics, and a servo controlled knee damper were integrated and successfully tested in the clinic. The stability to support the body weight, absorption of ground impact, and smooth forward progression reported by the amputee. An improved body support on a bent knee during mid-stance and instant response to a change in walking speed were recorded