A Stair Ascent and Descent Controller for a Powered Ankle Prosthesis
A Stair Ascent and Descent Controller for a Powered Ankle Prosthesis
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DOI：
10.1109/tnsre.2018.2819508
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发表时间：
2018-05-01
影响因子：
4.9
通讯作者：
Goldfarb, Michael
中科院分区：
文献类型：
--
作者：
Culver, Steven;Bartlett, Harrison;Goldfarb, Michael
本文介绍了一种用于动力跨胫骨假肢的控制系统，该假肢提供上下楼梯的能力，以及用户控制的行走、站立、上楼梯和下楼梯之间转换的能力。该控制系统在动力假肢上实施，并在单个单侧经胫骨截肢者身上进行评估。通过将假肢的步态运动学和动力学与被动动态弹性响应假肢和一组非截肢受试者的步态运动学和动力学进行比较，评估假肢在楼梯上升和下降过程中提供适当功能的能力。评估数据表明，相对于被动假肢，动力假肢能够提供一些理想的楼梯上升和楼梯下降特性。
This paper presents a control system for a powered transtibial prosthesis that provides stair ascent and descent capability, as well as ability for user-controlled transitions between walking, standing, stair ascent, and stair descent. The control system was implemented on a powered prosthesis and evaluated on a single unilateral transtibial amputee subject. The ability of the prosthesis to provide appropriate functionality during stair ascent and descent was assessed by comparing gait kinematics and kinetics of the prosthesis to those of a passive dynamic elastic response prosthesis and those of a set of non-amputee subjects. Data from the assessment indicates that the powered prosthesis is able to provide some desirable stair ascent and stair descent characteristics, relative to the passive prosthesis.