@article{shultz_running_2014,
	title = {Running with a {Powered} {Knee} and {Ankle} {Prosthesis}},
	volume = {Early Access Online},
	issn = {1534-4320},
	doi = {10.1109/TNSRE.2014.2336597},
	abstract = {This paper presents a running control architecture for a powered knee and ankle prosthesis that enables a transfemoral amputee to run with a biomechanically appropriate running gait, and to intentionally transition between a walking and running gait. The control architecture consists firstly of a coordination level controller, which provides gait biomechanics representative of healthy running, and secondly of a gait selection controller that enables the user to intentionally transition between a running and walking gait. The running control architecture was implemented on a transfemoral prosthesis with powered knee and ankle joints, and the efficacy of the controller was assessed in a series of running trials with a transfemoral amputee subject. Specifically, treadmill trials were conducted to assess the extent to which the coordination controller provided a biomechanically appropriate running gait. Separate trials were conducted to assess the ability of the user to consistently and reliably transition between walking and running gaits.},
	journal = {IEEE Transactions on Neural Systems and Rehabilitation Engineering},
	author = {Shultz, A and Lawson, B. and Goldfarb, M.},
	year = {2014},
	keywords = {Absorption, Biomechanics, Joints, Knee, Propulsion, legged locomotion, prosthetics}
}

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