Adaptive control of above knee electro-hydraulic prosthesis

T. K. Wang, Ming-Shaung Ju, Y. G. Tsuei

Research output: Contribution to journalArticlepeer-review

18 Citations (Scopus)


Conventional designs of an above-knee prosthesis are based on mechanisms with mechanical properties (such as friction, spring and damping coefficients) that remain constant during changing cadence. These designs are unable to replace natural legs due to the lack of active knee joint control. Since the nonlinear and time-varying dynamic coupling between the thigh and the prosthetic limb is high during swing phase, an adaptive control is employed to control the knee joint motion. Two dimensional simulation indicates that the adaptive controller can improve the appearance of gait pattern. It is adaptable to walking speed and can compensate for the variations of hip moment, hip trajectory and toe-off conditions.

Original languageEnglish
Pages (from-to)421-424
Number of pages4
JournalJournal of Biomechanical Engineering
Issue number3
Publication statusPublished - 1992 Jan 1

All Science Journal Classification (ASJC) codes

  • Biomedical Engineering
  • Physiology (medical)


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