A running controller for a powered transfemoral prosthesis.
This paper describes a running controller for a powered knee and ankle prosthesis. The running controller was implemented on a powered prosthesis prototype and evaluated by a transfemoral amputee subject running on a treadmill at a speed of 2.25 m/s (5.0 mph). The ability of the prosthesis and controller to provide the salient features of a running gait was assessed by comparing the kinematics of running provided by the powered prosthesis to the averaged kinematics of five healthy subjects running at the same speed. This comparison indicates that the powered prosthesis and running controller are able to provide essential features of a healthy running gait.
Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA. amanda.m.huff@vanderbilt.edu
Amanda M
AM
Huff
Brian E
BE
Lawson
Michael
M
Goldfarb
D000328:Adult; D000672:Amputation Stumps / Q000503:physiopathology*; D000674:Amputees / Q000534:rehabilitation*; D001676:Biofeedback, Psychology / Q000295:instrumentation / Q000379:methods; D011211:Electric Power Supplies; D019544:Equipment Failure Analysis; D005269:Femur; D020233:Gait Disorders, Neurologic / Q000209:etiology / Q000503:physiopathology* / Q000534:rehabilitation*; D006801:Humans; D007595:Joint Prosthesis; D009989:Orthotic Devices; D010865:Pilot Projects; D011474:Prosthesis Design; D012371:Robotics / Q000295:instrumentation*; D013813:Therapy, Computer-Assisted / Q000295:instrumentation / Q000379:methods; D016896:Treatment Outcome