Swing dynamics of a prosthetic or orthotic device

A non-transitory computer readable medium having instructions stored thereon, wherein execution of the instructions by a controller causes the controller to:

• cause an actuator to produce a torque based on one or more parameters of a controller, wherein a prosthetic or orthotic device comprises a motorized knee, the actuator, and the controller, and wherein the controller causes the motorized knee to perform a first portion of a flexion action based on the torque, wherein the torque progressively reduces during performance of the flexion action;
• determine a first angle associated with a knee joint of the motorized knee satisfies a first threshold;
• and
• perform a first adjustment of the one or more parameters based on determining the first angle satisfies the first threshold and performance of a toe-off assist action, wherein the controller causes the motorized knee to perform a second portion of the flexion action based on the first adjustment.

A control system, for controlling a prosthetic or orthotic device comprising a controller, a shank segment, and a motorized knee at a knee joint that is configured to attach to attach to a thigh of a trans-femoral amputee, the controller configured to:

• cause an actuator to produce a torque based on one or more parameters of the controller, wherein the controller causes the motorized knee to perform a first portion of a flexion action based on the torque, wherein the torque progressively reduces during performance of the flexion action;
• determine a first angle associated with a knee joint of the motorized knee satisfies a first threshold;
• and
• perform a first adjustment of the one or more parameters based on determining the first angle satisfies the first threshold and performance of a toe-off assist action, wherein the controller causes the motorized knee to perform a second portion of the flexion action based on the first adjustment.