Variable Cadence Walking and Ground Adaptive Standing With a Powered Ankle Prosthesis.

ABSTRACT: This paper describes a control approach that provides walking and standing functionality for a powered ankle prosthesis, and demonstrates the efficacy of the approach in experiments with a unilateral transtibial amputee subject. Both controllers incorporate a finite-state structure that emulates healthy ankle joint behavior via a series of piecewise passive impedance functions. The walking controller additionally modifies impedance parameters based on estimated cadence, while the standing controller modulates the ankle equilibrium angle in order to adapt to the ground slope and user posture, and the supervisory controller selects between the walking and standing controllers. The system is shown to reproduce several essential biomechanical features of the healthy joint during walking, parti

SUBMITTER: Shultz AH 

PROVIDER: S-EPMC4627943 | biostudies-literature | 2016 Apr

REPOSITORIES: biostudies-literature