Control of Stair Ascent and Descent With a Powered Transfemoral Prosthesis
Control of Stair Ascent and Descent With a Powered Transfemoral Prosthesis
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DOI：
10.1109/tnsre.2012.2225640
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发表时间：
2013-05-01
影响因子：
4.9
通讯作者：
Goldfarb, Michael
中科院分区：
文献类型：
--
作者：
Lawson, Brian Edward;Varol, Huseyin Atakan;Goldfarb, Michael
本文提出了一种基于有限状态的控制系统的动力经股骨假体，提供楼梯上升和下降的能力。该控制系统在动力假体上实施，并由单侧经股截肢者进行评价。通过比较步态运动学（由运动捕捉系统记录）与被动假肢提供的运动学以及一组健康受试者记录的运动学，评估动力假肢提供上楼梯和下楼梯能力的能力。结果表明，动力假肢提供的步态运动学，是相当多的代表健康步态，相对于被动假肢，楼梯上升和下降。
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.