volume 28, issue 1, P89-98 1995
DOI: 10.1016/0021-9290(95)80010-7
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D. Popović, M.N. Oǧuztöreli, R.B. Stein

Abstract: Our previous research and clinical tests of a self-contained powered above-knee prosthesis (AKP) showed that a knee joint with one degree of freedom (DOF) increases the energy cost of walking with respect to able-bodied subjects. Better symmetry of the gait can improve performance, so we suggest here the integration of a second powered DOF into the knee joint mechanism to control the internal-external rotation of the shank-foot complex. The control for the AKP with two DOFs is based on a method of optimal trac…

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