1. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Powered Transtibial Prosthetic Device Control System Design, Implementation, and Bench Testing
J. Med. Devices. 2013;8(1): doi: /
Figure Legend:
Human ankle impedance plotted with the optimized mechanical design [14]

2. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Powered Transtibial Prosthetic Device Control System Design, Implementation, and Bench Testing
J. Med. Devices. 2013;8(1): doi: /
Figure Legend:
Sketch of the four-bar mechanism and torsional spring configuration

3. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Powered Transtibial Prosthetic Device Control System Design, Implementation, and Bench Testing
J. Med. Devices. 2013;8(1): doi: /
Figure Legend:
Prosthetic device prototype

4. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Powered Transtibial Prosthetic Device Control System Design, Implementation, and Bench Testing
J. Med. Devices. 2013;8(1): doi: /
Figure Legend:
Overall finite state control algorithm

5. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Powered Transtibial Prosthetic Device Control System Design, Implementation, and Bench Testing
J. Med. Devices. 2013;8(1): doi: /
Figure Legend:
The proposed finite state machine working schematic

6. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Powered Transtibial Prosthetic Device Control System Design, Implementation, and Bench Testing
J. Med. Devices. 2013;8(1): doi: /
Figure Legend:
Fitted curve compared to the Winter [17] reference data

7. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Powered Transtibial Prosthetic Device Control System Design, Implementation, and Bench Testing
J. Med. Devices. 2013;8(1): doi: /
Figure Legend:
Hardware system configuration

8. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Powered Transtibial Prosthetic Device Control System Design, Implementation, and Bench Testing
J. Med. Devices. 2013;8(1): doi: /
Figure Legend:
Backpack with all the hardware components

9. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Powered Transtibial Prosthetic Device Control System Design, Implementation, and Bench Testing
J. Med. Devices. 2013;8(1): doi: /
Figure Legend:
Simulation of ankle moment output during stance phase with adjusted PID gains

10. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Powered Transtibial Prosthetic Device Control System Design, Implementation, and Bench Testing
J. Med. Devices. 2013;8(1): doi: /
Figure Legend:
Decomposed simulation result of the ankle moment during stance phase

11. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Powered Transtibial Prosthetic Device Control System Design, Implementation, and Bench Testing
J. Med. Devices. 2013;8(1): doi: /
Figure Legend:
Simulation result of joint C position during swing phase

12. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Powered Transtibial Prosthetic Device Control System Design, Implementation, and Bench Testing
J. Med. Devices. 2013;8(1): doi: /
Figure Legend:
Moment bench testing configuration

13. Date of download: 11/10/2017
Copyright © ASME. All rights reserved.
From: Powered Transtibial Prosthetic Device Control System Design, Implementation, and Bench Testing
J. Med. Devices. 2013;8(1): doi: /
Figure Legend:
Results of the moment bench testing