The field of control of powered lower-leg prostheses has advanced due to the improvements in sensors and computational power. Much effort has been done to improve the capabilities of prostheses, such as mimicking the stiffness, weight, and mobility of a human ankle-foot  and autonomously commanding the robotic prosthesis for gait .
Prediction of Ground Profile for Lower-Leg Prosthesis Control Using a Visual-Inertial System
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A. Ribeiro, G, & Rastgaar, M. "Prediction of Ground Profile for Lower-Leg Prosthesis Control Using a Visual-Inertial System." Proceedings of the 2018 Design of Medical Devices Conference. 2018 Design of Medical Devices Conference. Minneapolis, Minnesota, USA. April 9–12, 2018. V001T10A015. ASME. https://doi.org/10.1115/DMD2018-6962
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