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. Author manuscript; available in PMC: 2017 Apr 1.
Published in final edited form as: IEEE Trans Neural Syst Rehabil Eng. 2015 Apr 30;24(4):495–505. doi: 10.1109/TNSRE.2015.2428196

Fig. 4.

Fig. 4

The supervisory controller executed by the prosthesis. θa is the ankle angle, which is compared to a position threshold offset from the ankle equilibrium angle, represented here by θth,sw. θ̇s is the angular velocity of the shank, T represents the amount of time that θ̇s is approximately zero, and dt is the sample time of the controller. θa,eq is the ankle equilibrium position for the subsequent state (State 0 of Standing), and θa,eq,w0 is the ankle equilibrium position of State 0 of Walking, which is the previous state.