An architecture for direct measurement of transfemoral prosthesis gait beyond the gait laboratory setting

Jonathan A. Gacioch, Kevin B. Fite, Adam K. Arabian, Toshiki Kobayashi, David A. Boone, Michael S. Orendurff

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review


The work presented here details the development of a wireless instrumentation architecture for direct gait measurement in a transfemoral prosthesis. The system comprises a pair of multi-axis load cells located proximal to the ankle and knee joints of the prosthesis that provide a measure of moments and axial force above and below the prosthetic knee. The kinetic measurements are supplemented with knee kinematics measured using a modular goniometer attached lateral to the prosthetic knee and ground contact as indicated with a pneumatic sensor at the prosthetic heel. Each instrument wirelessly transmits collected data to host PCs, enabling direct gait measurements free of the constraints of a conventional gait laboratory setting. The data acquisition system was evaluated with a single subject with unilateral transfemoral amputation walking with a polycentric knee, composite energy-return foot, and daily-use socket. Experimental results were collected for the subject walking through a theater, enabling the rapid acquisition of gait data for level-ground walking and incline ascent/descent without the need for a motion-capture camera array or floor-embedded force plates.

Original languageEnglish
Title of host publicationActive Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems
PublisherAmerican Society of Mechanical Engineers
Number of pages6
ISBN (Electronic)9780791846186
Publication statusPublished - 19 Dec 2014
Externally publishedYes
EventASME 2014 Dynamic Systems and Control Conference, DSCC 2014 - San Antonio, United States
Duration: 22 Oct 201424 Oct 2014

Publication series

NameASME 2014 Dynamic Systems and Control Conference, DSCC 2014


ConferenceASME 2014 Dynamic Systems and Control Conference, DSCC 2014
Country/TerritoryUnited States
CitySan Antonio

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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