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. Author manuscript; available in PMC: 2017 May 1.
Published in final edited form as: IEEE Trans Biomed Eng. 2015 Aug 25;63(5):904–913. doi: 10.1109/TBME.2015.2472533

Fig. 5.

Fig. 5

Control performance of simulated prosthesis on rough terrain. The distances walked over terrains with different ground roughness are compared between the amputee model using a powered knee-ankle prosthesis with impedance control (green) and hybrid neuromuscular control (blue) as well as with the unimpaired human model (red). Shown are the median and range (25th and 75th percentiles) of the covered distances for 50 terrains sampled at each roughness level.