Fig. 1
From: Relying on more sense for enhancing lower limb prostheses control: a review
Control framework. Dynamics between a prosthetic device, a user, and his environment. The hierarchical controller estimates the patient’s intent at the high-level, translates it into device states at the mid-level and finally executes these commands at the lower level. Environmental awareness is achieved by observing the user (IES) or the environment (EES). Adapted from Tucker et al. 2015 [6]