title: Control of stair ascent and descent with a powered transfemoral prosthesis.
abstract: This paper presents a finite state-based control system for a powered transfemoral prosthesis that provides stair ascent and descent capability. The control system was implemented on a powered prosthesis and evaluated by a unilateral, transfemoral amputee subject. The ability of the powered prosthesis to provide stair ascent and descent capability was assessed by comparing the gait kinematics, as recorded by a motion capture system, with the kinematics provided by a passive prosthesis, in addition to those recorded from a set of healthy subjects. The results indicate that the powered prosthesis provides gait kinematics that are considerably more representative of healthy gait, relative to the passive prosthesis, for both stair ascent and descent.
authors.affiliation: Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA. brian.e.lawson@vanderbilt.edu
authors.forename: Brian Edward
authors.initials: BE
authors.lastname: Lawson
authors.forename: Huseyin Atakan
authors.initials: HA
authors.lastname: Varol
authors.forename: Amanda
authors.initials: A
authors.lastname: Huff
authors.forename: Erdem
authors.initials: E
authors.lastname: Erdemir
authors.forename: Michael
authors.initials: M
authors.lastname: Goldfarb
mesh_terms: D000672:Amputation Stumps; D000674:Amputees / Q000534:rehabilitation*; D058737:Arthroplasty, Replacement, Ankle / Q000295:instrumentation; D001186:Artificial Limbs; D001676:Biofeedback, Psychology / Q000295:instrumentation; D004867:Equipment Design; D019544:Equipment Failure Analysis; D020233:Gait Disorders, Neurologic / Q000534:rehabilitation*; D006801:Humans; D007720:Knee Prosthesis; D009989:Orthotic Devices; D012371:Robotics / Q000295:instrumentation*; D013813:Therapy, Computer-Assisted / Q000295:instrumentation*