Controlling Powered Prosthesis Kinematics Over Continuous Inter-Leg Transitions Between Walking and Stair Ascent/Descent.

ABSTRACT: Although powered prosthetic legs have enabled more biomimetic joint kinematics during steady-state activities like walking and stair climbing, transitions between these activities are usually handled by discretely switching controllers without considering biomimicry or the distinct role of the leading leg. This study introduces two data-driven, phase-based kinematic control approaches for seamless inter-leg transitions (i.e., initiated by either the prosthetic or intact leg) between walking and stair ascent/descent, assuming high-level knowledge of the upcoming activity. One approach employs a novel continuously-varying kinematic model that interpolates between steady-state activities as an approximate convex combination, and the other approach employs a simple switching-based model with o

SUBMITTER: Cheng S 

PROVIDER: S-EPMC11608573 | biostudies-literature | 2024

REPOSITORIES: biostudies-literature