Abstract
In this article, we have designed an active prosthesis for the lower limb of a human. The unique design incorporates an exoskeletal extension that serves as a low-cost sensory framework, providing feedback on residual signals, namely the states of the hip and thigh. The controller takes advantage of system modeling and employs a simple proportional–derivative control. A stability analysis has been conducted. We have also provided simulations and analysis of the active prosthesis to evaluate the effectiveness of the design and control.
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