Powered leg prosthesis and control methodologies for obtaining near normal gait

A control system for a powered joint in a leg prosthesis comprising at least one of a powered ankle joint or a powered knee joint, the system comprising:

• a processor;
• a computer readable medium having stored thereon a plurality of instructions for causing the processor to perform the method comprising:
• determining a passive joint torque component based on a passive function of at least one measured input, the measured input comprising at least one of a measured angle of a powered joint in the leg prosthesis or a measured angular velocity of the powered joint;
• determining an active joint torque component based on an active function of at least one measured external force on the leg prosthesis and independent of at least one measured input;
• and
• computing an output torque for at the least one powered joint based on a superposition of the passive joint torque component and the active joint torque component.

A non-transitory computer-readable medium having stored thereon a plurality of instructions for causing a computing device to perform the method comprising:

• determining a passive joint torque component based on a passive function of at least one measured input for a leg prosthesis, the measured input comprising at least one of a measured angle of a powered joint in the leg prosthesis or a measured angular velocity of the powered joint;
• determining an active joint torque component based on an active function of at least one measured external force on the leg prosthesis and independent of at least one measured input;
• and
• computing an output torque for at the least one powered joint based on a superposition of the passive joint torque component and the active joint torque component.