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The paper investigates the feasibility of externally powered lower-limb prostheses, in particular those in which walking motions would be automatically controlled. The lack of a suitable power supply is a major obstacle to the rapid development of a practical prosthesis, but a theoretical and practical study is being made of a ‘prototype walking device’, out of which, if successful, a prosthesis might evolve. The configuration of this device is outlined, with reasons for the choice, and possible actuators and sensors are discussed. A mathematical model is formulated and a control scheme is outlined which should enable the device to walk stably on small feet over uneven terrain. Results of analogue simulation of the device are summarized.
D. C. Witt (Sun,) studied this question.