Technology Efficacy in Active Prosthetic Knees for Transfemoral Amputees: A Quantitative Evaluation

Table 8

Detailed average calculations for different knee parameters versus control methods.

Control; technique (C)	Knee angle				Knee torque			Knee power
	𝜃max.stance	𝜃min.stance	𝜃max.swing	𝜃min.swing	𝑇max.stanceflex.	𝑇min.stanceext.	𝑇Area	𝑃max.propulsion	𝑃max.swing
C1	(0.5𝜃^𝑛) [5]	(0.5𝜃^𝑛) [5]	(0.95𝜃^𝑛) [5]	(0.95𝜃^𝑛) [5]	(5𝑇^𝑛) [5]	(0.75𝑇^𝑛) [5]	(0.1𝑇^𝑛) [5]	(0.44𝑃^𝑛) [5]	(0.12𝑃^𝑛) [5]
C2	(0.9𝜃^𝑛) [31]	(4𝜃^𝑛) [31]	(0.93𝜃^𝑛) [31]	(2𝜃^𝑛) [31]	NV	NV	NV	NV	NV
C3	(0.35𝜃^𝑛) [34], (0.9𝜃^𝑛) [35],; (0.9𝜃^𝑛) [42]	(0.5𝜃^𝑛) [34],; (3.5𝜃^𝑛) [35],; (1.5𝜃^𝑛) [42]	(0.98𝜃^𝑛) [34],; (1.13𝜃^𝑛) [35],; (1.135𝜃^𝑛) [42],; (𝜃^𝑛) [36]	(6𝜃^𝑛) [34],; (6𝜃^𝑛) [35],; (2𝜃^𝑛) [42]	(2.5𝑇^𝑛) [34],; (1.75𝑇^𝑛) [35],; (17.75𝑇^𝑛) [36]	(1.4𝑇^𝑛) [34],; (0.35𝑇^𝑛) [35],; (1.02𝑇^𝑛) [36]	(0.12𝑇^𝑛) [34],; (1.15𝑇^𝑛) [35],; (0.51𝑇^𝑛) [36]	(1.1𝑃^𝑛) [34],; (1.02𝑃^𝑛) [35],; (2.1𝑃^𝑛) [36]	(0.135𝑃^𝑛) [34],; (0.23𝑃^𝑛) [35],; (0.23𝑃^𝑛) [36]
Average	0.72𝜃^𝑛	1.83𝜃^𝑛	1.06𝜃^𝑛	4.67𝜃^𝑛	7.33𝑇^𝑛	0.92𝑇^𝑛	0.59𝑇^𝑛	1.41𝑃^𝑛	0.2𝑃^𝑛
C4	NV	NV	(1.15𝜃^𝑛) [41]	NV	(1.75𝑇^𝑛) [41]	(0.35𝑇^𝑛) [41]	(1.15𝑇^𝑛) [41]	NV	NV
C5	(0.35𝜃^𝑛) [37]	NV	(0.9𝜃^𝑛) [37]	(2𝜃^𝑛) [37]	NV	NV	NV	NV	NV

C1: finite-state control, C2: proportional, integral, and derivative (PID), C3: finite-state-based impedance control approach, C4: iterative learning control (ILC), and C5: adaptive control scheme.