Peripheral neural interface via nerve regeneration to distal tissues

A prosthesis, orthosis or exoskeleton device for restoring lost functionality to a subject, comprising:

• an implanted sensing system configured to measure muscle-tendon signals of at least one agonist-antagonist muscle-tendon pair of the subject, the pair comprising an agonist muscle-tendon connected to an antagonist muscle-tendon, the muscle-tendon signals being representative of agonist-antagonist muscle-tendon dynamics, the muscle-tendon signals comprising at least one of a muscle length, a muscle velocity, or a muscle force in at least one muscle-tendon of the agonist-antagonist muscle-tendon pair;
• a support configured to support the at least one agonist-antagonist muscle-tendon pair, whereby contraction of one muscle-tendon of the at least one pair will cause extension of the paired muscle-tendon;
• and
• a controller configured to:
• map the muscle-tendon signals to a control target comprising at least one of a joint torque, a joint impedance, or a joint state, the joint impedance comprising at least one of a joint stiffness or a damping, the joint state comprising at least one of a joint angle or an angular rate;
• and
• output the control target to command a powered actuator of the prosthesis, orthosis, or exoskeleton device, thereby at least partially restoring the lost functionality to the subject.