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A system and method for operating a prosthesis is provided. The system includes a socket configured to engage a residual limb of a subject and a shaft having a first end connected to the socket and an opposing second end. The system also includes a foot piece connected to the second end of the shaft. The foot piece includes an ankle plate and a sole piece configured to contact a surface. The system also includes at least one computer configured to detect a state of the foot piece and to transmit an indication of the state of the foot. The system further includes a motor assembly configured to receive the indication of the state of the foot and to control a position and impedance of the ankle plate based on the state of the foot.

Patent Number

US 9,849,003 B2


Mayo Foundation For Medical Education And Research, Rochester, MN (US)


Michigan Technological University, Houghton, MI (US)

Application Number


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Certificate of Correction


Issue Date



Orthopedics | Orthotics and Prosthetics


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System for powered ankle-foot prosthesis with active control of dorsiflexion-plantarflexion and inversion-eversion



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