title: Preliminary assessment of variable geometry stair ascent and descent with a powered lower limb orthosis for individuals with paraplegia.
abstract: This paper describes a controller for a lower-limb exoskeleton that enables variable-geometry stair ascent and descent for persons with lower limb paralysis. The controller was evaluated on a subject with T10 complete spinal cord injury (SCI) on two staircases, one with a riser height and tread depth of 18.4 × 27.9 cm (7.25 × 11 in) and the other 17.8 × 29.8 cm (7 × 11.75 in). The controller enabled ascent and descent of both staircases without explicit tuning for each, and with an average step rate of 12.9 step/min during ascent and 14.6 step/min during descent.
authors.forename: Andrew
authors.initials: A
authors.lastname: Ekelem
authors.forename: Spencer
authors.initials: S
authors.lastname: Murray
authors.forename: Michael
authors.initials: M
authors.lastname: Goldfarb
mesh_terms: D000328:Adult; D000067190:Exoskeleton Device; D006801:Humans; D035002:Lower Extremity / Q000502:physiology*; D008297:Male; D009989:Orthotic Devices; D010264:Paraplegia / Q000209:etiology / Q000503:physiopathology*; D013119:Spinal Cord Injuries / Q000150:complications / Q000534:rehabilitation