Modeling the Transitional Kinematics Between Variable-Incline Walking and Stair Climbing.

ABSTRACT: Although emerging powered prostheses can enable people with lower-limb amputation to walk and climb stairs over different task conditions (e.g., speeds and inclines), the control architecture typically uses a finite-state machine to switch between activity-specific controllers. Because these controllers focus on steady-state locomotion, powered prostheses abruptly switch between controllers during gait transitions rather than continuously adjusting leg biomechanics in synchrony with the users. This paper introduces a new framework for powered prosthesis control by modeling the lower-limb joint kinematics over a continuum of variable-incline walking and stair climbing, including steady-state and transitional gaits. Steady-state models for walking and stair climbing represent joint kinematic

SUBMITTER: Cheng S 

PROVIDER: S-EPMC9386740 | biostudies-literature | 2022 Aug

REPOSITORIES: biostudies-literature