Powered transfemoral prostheses can significantly improve mobility and quality of life for lower-limb amputees by restoring natural walking. This review examines recent progress in control technologies, focusing on control methods, sensing systems, and application challenges. Key challenges include improving gait symmetry, reducing energy consumption, and enhancing adaptability to diverse environments.
Key takeaways
- Sensors such as six-axis force sensors, IMUs, and EMG sensors are critical for precise control and environmental adaptation.
- Hierarchical control frameworks use high-level estimation, mid-level impedance or trajectory control, and human-in-the-loop optimization.
- Future trends emphasize personalized adjustment, intelligent control, and improved adaptability for real-world use.
While hardware advances are notable, control complexity remains a barrier to commercialization. Optimizing control strategies to reduce energy use and improve comfort is essential for broader clinical adoption.
Source: 《机器人》期刊 (robot.sia.cn) · Published 2026-03-15 · “动力大腿假肢控制技术研究进展及发展趋势”