Abstract: Aspects of the present disclosure are directed toward apparatuses and methods for rendering haptic environments, such as may be used in rehabilitation. As may be implemented in accordance with one or more embodiments, haptic rehabilitative movement is effected by providing feedback signals characterizing sensed engagement of a user's lower extremity with a crank coupled to a shaft that is driven by a motor, and controlling movement of the crank in response to the feedback signals. Force may be provided by the motor and shaft, by applying control inputs to the motor that cause the motor and crank to render respective haptic environments while engaged with the user's lower extremity, via rotation of the shaft. The haptic environments may include one or both of impedance-based haptic environments and admittance-based haptic environments.

Abstract: Various aspects of the present disclosure characterize apparatuses and/or methods as may be implemented with a variety of prosthetic components and applications. As may be consistent with one or more embodiments described herein, movement parameters pertaining to movement of a user of a prosthetic foot are sensed as the user travels along a surface, with the prosthetic foot having a front ball region and a rear heel region for respectively contacting the surface. A state of movement of the user, including a speed at which the user is travelling along the surface, is determined based on the sensed movement parameters. Utilizing a mechanical actuator, the prosthetic foot is dynamically positioned in response to the speed at which the user is travelling along the surface, by manipulating the mechanical actuator to move the rear heel region relative to the front ball region based on changes in the speed.

Abstract: Various aspects of the present disclosure characterize apparatuses and/or methods as may be implemented with a variety of prosthetic components and applications. As may be consistent with one or more embodiments described herein, respective manipulators are operable and/or operate to manipulate a prosthetic foot component about respective (e.g., separate) axes. A sensor circuit senses movement characteristics of the prosthetic foot component (e.g., movement, surroundings, and/or load applied due to movement). The manipulators operate with the sensor circuit to manipulate the prosthetic foot component about the axes in response to the sensed movement characteristics indicating that the prosthetic foot component is elevated over a surface.

Abstract: Various aspects of the present disclosure characterize apparatuses and/or methods as may be implemented with a variety of prosthetic components and applications. As may be consistent with one or more embodiments described herein, movement parameters pertaining to movement of a user of a prosthetic foot are sensed as the user travels along a surface, with the prosthetic foot having a front ball region and a rear heel region for respectively contacting the surface. A state of movement of the user, including a speed at which the user is travelling along the surface, is determined based on the sensed movement parameters. Utilizing a mechanical actuator, the prosthetic foot is dynamically positioned in response to the speed at which the user is travelling along the surface, by manipulating the mechanical actuator to move the rear heel region relative to the front ball region based on changes in the speed.

Abstract: Various aspects of the present disclosure characterize apparatuses and/or methods as may be implemented with a variety of prosthetic components and applications. As may be consistent with one or more embodiments described herein, respective manipulators are operable and/or operate to manipulate a prosthetic foot component about respective (e.g., separate) axes. A sensor circuit senses movement characteristics of the prosthetic foot component (e.g., movement, surroundings, and/or load applied due to movement). The manipulators operate with the sensor circuit to manipulate the prosthetic foot component about the axes in response to the sensed movement characteristics indicating that the prosthetic foot component is elevated over a surface.