Control system and method for controlling an actuated prosthesis

A method for controlling an actuated prosthesis in real time, the method comprising:

• providing a plurality of main artificial proprioceptors;
• receiving a data signal from each of the main artificial proprioceptors;
• obtaining a first and a second derivative signal for at least some of the data signals;
• obtaining a third derivative signal for at least one of the data signals;
• using a set of first state machines to select one state among a plurality of possible states for each main artificial proprioceptor with the corresponding data and derivative signals;
• generating a phase of locomotion portion using the states of the main artificial proprioceptors;
• using a second state machine to select the portion of locomotion among a plurality of possible portions of locomotion using events associated to the data signals;
• calculating a locomotion speed value;
• determining coefficient values from a lookup table using the phase of locomotion portion, the portion of locomotion and the locomotion speed value;
• calculating at least one dynamic parameter value of the actuated prosthesis using the coefficient values from the lookup table and at least some of the data signals;
• and
• converting the dynamic parameter value into an output signal to control the actuated prosthesis.