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The unique design incorporates an exoskeletal extension that serves as a low-cost sensory framework, providing feedback on residual signals, namely the states of the hip and thigh. The controller takes advantage of system modeling and employs a simple proportional\u2013derivative control. A stability analysis has been conducted. We have also provided simulations and analysis of the active prosthesis to evaluate the effectiveness of the design and control. <\/jats:p>","DOI":"10.1177\/09596518231204054","type":"journal-article","created":{"date-parts":[[2023,11,7]],"date-time":"2023-11-07T12:36:38Z","timestamp":1699360598000},"page":"648-660","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Design and control of active lower limb prosthesis with sensorial frame"],"prefix":"10.1177","volume":"238","author":[{"given":"Ivan","family":"Hernandez","sequence":"first","affiliation":[{"name":"Departamento de Control Autom\u00e1tico, CINVESTAV-IPN, Mexico City, Mexico"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9540-7924","authenticated-orcid":false,"given":"Wen","family":"Yu","sequence":"additional","affiliation":[{"name":"Departamento de Control Autom\u00e1tico, CINVESTAV-IPN, Mexico City, Mexico"}]}],"member":"179","published-online":{"date-parts":[[2023,11,7]]},"reference":[{"key":"bibr1-09596518231204054","unstructured":"Cruz \u00c1. 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