Citation

Lee JT, Goldfarb M. IEEE Trans. Neural Syst. Rehabil. Eng. 2021; ePub(ePub): ePub.

Copyright

(Copyright © 2021, IEEE (Institute of Electrical and Electronics Engineers))

DOI

10.1109/TNSRE.2021.3116787

PMID

unavailable

Abstract

This paper describes stair ambulation control and functionality of a semi-powered knee prosthesis that supplements nominally passive prosthesis behavior with swing-phase assistance. A set of stair ascent and descent controllers are described. The controllers were implemented in a semi-powered prosthesis prototype, and the prospective benefits of swing assist in stair ambulation were assessed on a group of three participants with unilateral, transfemoral amputation, relative to their respective daily-use prostheses.

RESULTS indicate that ambulation with the semi-powered knee resulted in improved stair ascent gait symmetry when compared to the participants' passive daily-use devices, and increased similitude to healthy stair ascent movement.

Language: en