TY - JOUR
T1 - Control of stair ascent and descent with a powered transfemoral prosthesis
AU - Lawson, Brian Edward
AU - Varol, Huseyin Atakan
AU - Huff, Amanda
AU - Erdemir, Erdem
AU - Goldfarb, Michael
N1 - Copyright:
Copyright 2013 Elsevier B.V., All rights reserved.
PY - 2013
Y1 - 2013
N2 - This paper presents a finite state-based control system for a powered transfemoral prosthesis that provides stair ascent and descent capability. The control system was implemented on a powered prosthesis and evaluated by a unilateral, transfemoral amputee subject. The ability of the powered prosthesis to provide stair ascent and descent capability was assessed by comparing the gait kinematics, as recorded by a motion capture system, with the kinematics provided by a passive prosthesis, in addition to those recorded from a set of healthy subjects. The results indicate that the powered prosthesis provides gait kinematics that are considerably more representative of healthy gait, relative to the passive prosthesis, for both stair ascent and descent.
AB - This paper presents a finite state-based control system for a powered transfemoral prosthesis that provides stair ascent and descent capability. The control system was implemented on a powered prosthesis and evaluated by a unilateral, transfemoral amputee subject. The ability of the powered prosthesis to provide stair ascent and descent capability was assessed by comparing the gait kinematics, as recorded by a motion capture system, with the kinematics provided by a passive prosthesis, in addition to those recorded from a set of healthy subjects. The results indicate that the powered prosthesis provides gait kinematics that are considerably more representative of healthy gait, relative to the passive prosthesis, for both stair ascent and descent.
KW - Amputee
KW - mechatronics
KW - prosthesis
KW - robotics
KW - transfemoral
UR - http://www.scopus.com/inward/record.url?scp=84877870834&partnerID=8YFLogxK
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U2 - 10.1109/TNSRE.2012.2225640
DO - 10.1109/TNSRE.2012.2225640
M3 - Article
C2 - 23096120
AN - SCOPUS:84877870834
VL - 21
SP - 466
EP - 473
JO - IEEE Transactions on Neural Systems and Rehabilitation Engineering
JF - IEEE Transactions on Neural Systems and Rehabilitation Engineering
SN - 1534-4320
IS - 3
M1 - 6335484
ER -