Many kinds of prostheses have been developed for people who lost their lower limb by accidents. In below knee prostheses, several kinds of energy stored prosthetic foot are developed, which can go ahead using the restored force by the spring. However, in the above knee prosthesis, the foot is not utilized because it is difficult to adjust the joint impedances in both ankle and knee in response to the walking state. In this paper, we propose a method to assign each joint impedance during the stance phase, and then we analyze the energy storing process.
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