Improving Sit/Stand Loading Symmetry and Timing Through Unified Variable Impedance Control of a Powered Knee-Ankle Prosthesis.

ABSTRACT: Individuals using passive prostheses typically rely heavily on their biological limb to complete sitting and standing tasks, leading to slower completion times and increased rates of osteoarthritis and lower back pain. Powered prostheses can address these challenges, but have control methods that divide sit-stand transitions into discrete phases, limiting user synchronization across the motion and requiring long manual tuning times. This paper extends our preliminary work using a thigh-based phase variable to parameterize optimized data-driven impedance parameter trajectories for sitting, standing, and walking, with only two classification modes. We decouple the stand-to-sit and sit-to-stand equilibrium angles through a knee velocity-dependent scaling term, reducing the model fitting error

SUBMITTER: Welker CG 

PROVIDER: S-EPMC10726997 | biostudies-literature | 2023

REPOSITORIES: biostudies-literature