Modelling and reference tracking of the robotic above-knee prosthetic leg with actuated knee and ankle joints during stair climbing

The locomotion of people with amputation is slower, less stable and requires more metabolic energy than the locomotion of physically fit individuals. Individuals with amputation of the lower extremities fall more often than able individuals and often have difficulty moving on uneven terrain and stairs. These challenges can mostly be attributed to the use of passive mechanical prosthetic legs that do not react actively to perturbations. Latest submitted solutions for active prosthetic devices of the lower extremities can significantly improve mobility and quality of life for millions of people with lower limb amputation, but challenges in control mechanisms of such devices are currently limiting their clinical viability. In this paper we present a prototype of an above-knee prosthetic leg with active knee and ankle joints while using the proposed robust control law.