An Ankle-Foot Prosthesis Emulator Capable of Modulating Center of Pressure
Difficulty balancing is one of the most commonly reported challenges following lower limb amputation. Active prosthetic limbs could be used to assist with balance by better controlling interactions with the ground. This work describes the design of a prosthesis emulator with two forefoot digits and a heel digit. Independent actuation of these digits modulates the origin and magnitude of the ground reaction force vector. During standing and walking, the emulator was able to control center of pressure along a prescribed pattern with errors of about 10% of pattern length, similar to human control.