Patent ID: 8702811

Claim:
A method of controlling the movement of a prosthetic ankle device, the prosthetic ankle device comprising a prosthetic foot, a lower limb member, and an actuator, the prosthetic foot being configured to pivot relative to the lower limb member, the method comprising: receiving first data identifying a change in a posture of a user occurring while moving on a first terrain with a prosthetic ankle device attached to a limb of the user; processing with a computing device the first data to determine a terrain transition from the first terrain to a second terrain, wherein the first terrain is different from the second terrain, and wherein said receiving first data and said determining the terrain transition occurs prior to any portion of the user moving on the second terrain; outputting second data indicative of the determined terrain transition; and controlling with the computing device a movement of the prosthetic ankle device based at least upon said second data, wherein said controlling comprises at least actively adjusting an angle of a joint of the prosthetic ankle device prior to moving on the second terrain in order to accommodate the different second terrain identified from the first data.