Control of stair ascent and descent with a powered transfemoral prosthesis

Brian Edward Lawson; Huseyin Atakan Varol; Amanda Huff; Erdem Erdemir; Michael Goldfarb

doi:10.1109/TNSRE.2012.2225640

Control of stair ascent and descent with a powered transfemoral prosthesis

Brian Edward Lawson, Huseyin Atakan Varol, Amanda Huff, Erdem Erdemir, Michael Goldfarb

Department of Robotics and Mechatronics

Research output: Contribution to journal › Article › peer-review

115 Citations (Scopus)

Abstract

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.

Original language	English
Article number	6335484
Pages (from-to)	466-473
Number of pages	8
Journal	IEEE Transactions on Neural Systems and Rehabilitation Engineering
Volume	21
Issue number	3
DOIs	https://doi.org/10.1109/TNSRE.2012.2225640
Publication status	Published - 2013

Keywords

Amputee
mechatronics
prosthesis
robotics
transfemoral

ASJC Scopus subject areas

Internal Medicine
Neuroscience(all)
Biomedical Engineering

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