A Simulation Framework for the Concurrent Optimization of Passive and Active Components of Lower-Limb Powered Prostheses

1 Motivation Walking with traditional passive lower-limb prostheses requires additional muscular effort and increased metabolic consumption (1.3-2.5 times the energy expended by a healthy person [1]). This supplementary effort cannot be sustained by many geriatric and dysvascular amputees (the majority of the amputee population [2]) for more than few steps, resulting in a partial or total reduction of the walking ability [3]. To overcome this problem, we need lightweight powered prostheses able to inject controlled amounts of positive energy into the walking cycle in order to improve gait efficiency and increase the independent life of a large number of amputees.