Controlling powered human augmentation devices

A powered human augmentation ankle device comprising:

• a sensor configured to sense a rate of plantar flexion of the powered human augmentation ankle device;
• a wireless communication device configured to transmit, from the powered human augmentation device, the sensed rate of plantar flexion and to receive, at the powered human augmentation device, a control signal configured to cause the powered human augmentation ankle device to adjust at least one parameter of the powered human augmentation ankle device, the at least one parameter comprising a timing of an application of a peak power;
• wherein the adjustment of the timing of the peak power application occurs during a terminal stance of the gait cycle, and the powered human augmentation ankle device has a net work that is a function of the peak power over time;
• and a processor configured to execute instructions causing the processor to:
• establish communication between the powered human augmentation ankle device and a communication system,
• receive the sensed rate of plantar flexion from the sensor,
• transmit the sensed rate of plantar flexion using the wireless communication device,
• receive a control signal in response to the transmitting of the sensed rate of plantar flexion, the control signal comprising an instruction to adjust a heel stiffness related to the parameter of the powered human augmentation ankle device,
• and adjusting the heel stiffness based on the control signal, the adjusted heel stiffness causing the powered human augmentation ankle device to provide a biomimetic response having the net work over the gait cycle and the adjustment to the peak power timing,
• wherein the net work falls substantially within a target range that is a function of ambulation speed.