Powered knee and ankle prosthesis controller for adaptive ambulation

A powered leg prosthesis system, comprising:

• a powered leg prosthesis comprising a shank that includes a proximal end and a distal end, a powered knee joint connected to the proximal end of the shank, a powered ankle joint connected to the distal end of the shank, and a prosthetic foot connected to the powered ankle joint;
• and
• a volitional controller, the volitional controller comprising one or more processors and one or more hardware storage devices having instructions stored thereon that are executable by the one or more processors to cause the controller to at least:
• determine a global shank orientation, wherein the global shank orientation is the angle between the shank of the powered lower leg prosthesis and direction of gravity;
• determine a target ankle torque based on the global shank orientation;
• determine a biarticular torque based on the target ankle torque;
• determine a target knee torque based on the biarticular torque;
• and
• output a knee torque signal for controlling the powered knee joint of the powered leg prosthesis based on the determined target knee torque,
• wherein the biarticular torque increases with ankle plantarflexion torque.

A powered leg prosthesis system, comprising:

• a powered leg prosthesis comprising a shank that includes a proximal end and a distal end, a powered knee joint connected to the proximal end of the shank, a powered ankle joint connected to the distal end of the shank, and a prosthetic foot connected to the powered ankle joint;
• and
• a volitional controller, the volitional controller comprising one or more processors and one or more hardware storage devices having instructions stored thereon that are executable by the one or more processors to cause the controller to at least:
• determine a global shank orientation, wherein the global shank orientation is the angle between the shank of the powered lower leg prosthesis and direction of gravity;
• determine a target ankle torque based on the global shank orientation;
• determine a biarticular torque based on the target ankle torque;
• determine a target knee torque based on the biarticular torque;
• and
• output a knee torque signal for controlling the powered knee joint of the powered leg prosthesis based on the determined target knee torque,
• wherein determining the target ankle torque is further based on a shank torque, wherein the shank torque is proportional to and opposite the global shank orientation.

A powered leg prosthesis system, comprising:

• a powered leg prosthesis comprising a shank that includes a proximal end and a distal end, a powered knee joint connected to the proximal end of the shank, a powered ankle joint connected to the distal end of the shank, and a prosthetic foot connected to the powered ankle joint;
• and
• a volitional controller, the volitional controller comprising one or more processors and one or more hardware storage devices having instructions stored thereon that are executable by the one or more processors to cause the controller to at least:
• determine a global shank orientation, wherein the global shank orientation is the angle between the shank of the powered lower leg prosthesis and direction of gravity;
• determine a target ankle torque based on the global shank orientation;
• determine a biarticular torque based on the target ankle torque;
• determine a target knee torque based on the biarticular torque;
• and
• output a knee torque signal for controlling the powered knee joint of the powered leg prosthesis based on the determined target knee torque,
• wherein determining the target ankle torque is further based on a second virtual damping torque, wherein the second virtual damping torque is proportional to and opposite a prosthetic ankle velocity.

A powered leg prosthesis system, comprising:

• a powered leg prosthesis comprising a shank that includes a proximal end and a distal end, a powered knee joint connected to the proximal end of the shank, a powered ankle joint connected to the distal end of the shank, and a prosthetic foot connected to the powered ankle joint;
• and
• a volitional controller, the volitional controller comprising one or more processors and one or more hardware storage devices having instructions stored thereon that are executable by the one or more processors to cause the controller to at least:
• determine a global shank orientation, wherein the global shank orientation is the angle between the shank of the powered lower leg prosthesis and direction of gravity;
• determine a target ankle torque based on the global shank orientation;
• determine a biarticular torque based on the target ankle torque;
• determine a target knee torque based on the biarticular torque;
• and
• output a knee torque signal for controlling the powered knee joint of the powered leg prosthesis based on the determined target knee torque,
• wherein determining the target knee torque is further based on a first virtual damping torque, wherein the first virtual damping torque is proportional to and opposite a prosthesis knee velocity.