title: Ground adaptive standing controller for a powered transfemoral prosthesis.
abstract: The scope of this work is the design and verification of a new standing controller for a powered knee and ankle prosthesis. The controller is based upon a finite-state impedance control approach previously developed by the authors. The controller provides a comprehensive standing behavior that incorporates ground adaptation for unlevel terrain. An amputee subject tested the controller with a powered prosthesis for a variety of standing conditions. Results indicate that the powered prosthesis can estimate the ground slope within ±1 degree over a range of ±15 degrees, and that it can provide appropriate joint impedances for standing on slopes within this range.
authors.forename: Brian E
authors.initials: BE
authors.lastname: Lawson
authors.forename: Huseyin Atakan
authors.initials: HA
authors.lastname: Varol
authors.forename: Michael
authors.initials: M
authors.lastname: Goldfarb
mesh_terms: D000674:Amputees; D000843:Ankle Joint / Q000502:physiology; D001186:Artificial Limbs; D006801:Humans; D007595:Joint Prosthesis; D007719:Knee Joint / Q000502:physiology; D007720:Knee Prosthesis; D011187:Posture / Q000502:physiology; D011474:Prosthesis Design