Fig. 6From: VUB-CYBERLEGs CYBATHLON 2016 Beta-Prosthesis: case study in control of an active two degree of freedom transfemoral prosthesisState chart of the Sit to Stand mode. Sit to stand used two torque trajectory based states, providing assistance with different torque profiles depending on whether sitting or standing. The ankle motor moved so the resting angle would allow for a flat foot while sittingBack to article page