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. 2015 May 1;12:43. doi: 10.1186/s12984-015-0027-3

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© Kim et al.; licensee BioMed Central. 2015

This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated.

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Control architecture.(a) The high-level controller determined desired ankle push-off work based on mediolateral velocity once per step. Desired push-off work was calculated at the instant of intact-side heel strike, and was equal to a nominal value plus the product of a gain and the difference between lateral velocity on that step and the average lateral velocity over the prior ten steps. Landing-angle disturbances were randomly selected at the beginning of each swing phase. (b) The low-level controller continuously regulated ankle torque within each step according to a desired torque-angle relationship. The torque-angle curve was updated by the high-level controller on each step, reflecting changes in desired push-off work (blue portion) and landing-angle disturbance (red portion).