Data-Driven Phase-Based Control of a Powered Knee-Ankle Prosthesis for Variable-Incline Stair Ascent and Descent.

ABSTRACT: Powered knee-ankle prostheses can offer benefits over conventional passive devices during stair locomotion by providing biomimetic net-positive work and active control of joint angles. However, many modern control approaches for stair ascent and descent are often limited by time-consuming hand-tuning of user/task-specific parameters, predefined trajectories that remove user volition, or heuristic approaches that cannot be applied to both stair ascent and descent. This work presents a phase-based hybrid kinematic and impedance controller (HKIC) that allows for semi-volitional, biomimetic stair ascent and descent at a variety of step heights. We define a unified phase variable for both stair ascent and descent that utilizes lower-limb geometry to adjust to different users and step heights. W

SUBMITTER: Cortino RJ 

PROVIDER: S-EPMC10829527 | biostudies-literature | 2024 Feb

REPOSITORIES: biostudies-literature