D8.4 - Foresighted Control of Active Foot Prostheses

For a better ground adaptation in walking and because of the still unsolved problem of not being able to prevent stumbling accidents with leg prostheses, there is a need to develop a system with a foresighted adaptation of the artificial limb to the ground. An optical measuring system is described which during the ongoing stance phase continually records the three dimensions of the ground in the target area of the next step. From the obtained three dimensional measuring data surrounding bodies or structures, like stairs or ramps, are detected. On the basis of this evaluation, the prosthetic control chooses the optimal adjustment of the prosthetic joint for walking the terrain in the following gait cycle