Methods and systems for controlling a prosthetic or orthotic device

A prosthetic or orthotic device (POD) comprising:

• a first limb member;
• a second limb member coupled to the first limb member at a joint;
• an actuator coupled to the first limb member and the second limb member and configured to actuate the first limb member relative to the second limb member;
• and
• a controller configured to control the actuator, the controller further configured to:
• cause the actuator to exhibit a force rejection behavior during at least a portion of stance phase,
• cause the actuator to exhibit a force following behavior during at least a portion of swing phase, and
• based on a determination that a gait parameter satisfies a gait parameter threshold, further cause the actuator to exhibit at least one behavior of:
• apply a first torque at the joint to cause the POD to flex during at least a portion of stance phase, decelerate flexion of the POD during at least a first portion of the swing phase, or decelerate extension of the POD during at least a second portion of the swing phase, wherein the actuator exhibits the at least one behavior at a power level that varies in proportion with the gait parameter.

A prosthetic or orthotic device (POD) comprising:

• a joint;
• and
• a controller configured to:
• receive gait parameter data;
• and
• select an active mode or a passive mode based at least in part on the gait parameter data;
• wherein in the passive mode, the controller causes an increase in resistance at the joint during stance phase and causes a decrease in resistance at the joint during swing phase, and
• wherein in the active mode, the controller causes:
• an increase in resistance at the joint during a first portion of the stance phase,
• a decrease in resistance at the joint during a second portion of the stance phase,
• a decrease in resistance at the joint during at least a first portion of the swing phase,
• an increase in resistance at the joint to decelerate flexion of the POD during at least a second portion of the swing phase, and
• an increase in resistance at a third portion of the swing phase to decelerate extension of the POD during at least a third portion of the swing phase.