Fig. 7From: VUB-CYBERLEGs CYBATHLON 2016 Beta-Prosthesis: case study in control of an active two degree of freedom transfemoral prosthesisState chart of the Hurdle navigation system. The hurdles were controlled through the angle of the hip (H θ ) with respect to the standing position. Initialization of the hurdle lifting begins with a hip velocity (H ω ) over a certain threshold. Lifting and extending phases were done at different rates, the knee angle providing the trigger the switch between states.Back to article page