A preliminary investigation of powered prostheses for improved walking biomechanics in bilateral transfemoral amputees

The authors conducted a preliminary investigation of the extent to which a pair of powered prostheses can provide improved gait biomechanics in bilateral transfemoral amputee walking. Specifically, a finite state-based impedance controller for level ground walking was implemented in a pair of powered knee and ankle prostheses. The efficacy of the powered prostheses and impedance-based controllers was tested on a healthy subject using able-body adapters. Motion capture data was collected while the subject performed treadmill walking with the powered prostheses. This kinematic data is compared to that of healthy subjects, and also to previously published data for bilateral transfemoral amputee gait with passive prostheses. The comparison indicates that the powered prostheses are able to provide a walking gait that is considerably more representative of healthy biomechanical gait relative to passive prostheses.