“…7,11,17 However, only modest simplification can be achieved since at least 3 states are typically defined for levelground walking, and parameter values differ across tasks (i.e., ramp ascent/descent, stair ascent/descent). 16,18,38 Another solution to tune fewer parameters is to associate parameter values with one another 36 or with other intrinsic biomechanical measures (e.g., prosthesis joint angles, prosthesis load, walking speed, foot center of pressure, effective leg shape). 8, 10,36 In one case, this strategy not only reduced the burden of manual tuning, but also permitted alternate nonlinear control systems that had fewer control parameters altogether.…”