Microprocessor controlled prosthetic ankle system for footwear and terrain adaptation

A method of moving an artificial foot coupled by a prosthetic ankle to a shank link, the method comprising:

• receiving a first signal from a first sensor measuring an amount of force applied to a surface by the artificial foot in a first position;
• receiving a second signal from a second sensor measuring a relative angle between the shank link and the artificial foot in the first position;
• receiving a third signal from a third sensor measuring a position of the artificial foot in the first position;
• calculating an output signal, using the first signal, the second signal, and the third signal, to move the prosthetic foot to a second position;
• sending the output to a control valve in a first position on a hydraulic actuator coupled between the shank link and a top surface of the artificial foot;
• moving the control valve to a second position based on the output;
• changing a resistance to a flow of the hydraulic fluid through the hydraulic actuator;
• adjusting the relative angle based on the flow of the hydraulic fluid through the hydraulic actuator;
• and
• moving the artificial foot into a second position.