In this paper we present an enhanced gait emulator and a novel hybrid control system to test powered ankle-foot prostheses with two degrees of freedom in the sagittal and frontal planes. The gait emulator is a nonlinear and non-smooth system that has to follow a precisely timed set of phases to achieve a human-like periodic gait. Despite the complexity and parameter uncertainties of this five degrees of freedom system, our proposed hybrid control system simplifies the walking control by use of state triggered kinematic events. The control system works in closed loop with kinematic event detection to ensure robust and repeatable walking tests as design parameters are varied. The developed gait emulator can be used to test the prosthesis under various loading conditions and walking speeds.

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