A Unified Controller for Natural Ambulation on Stairs and Level Ground with a Powered Robotic Knee Prosthesis
Marissa Cowan,Suzi Creveling,Liam M. Sullivan,Lukas Gabert,Tommaso Lenzi,Marissa Cowan,Suzi Creveling,Liam M. Sullivan,Lukas Gabert,Tommaso Lenzi
Powered lower-limb prostheses have the potential to improve amputee mobility by closely imitating the biomechanical function of the missing biological leg. To accomplish this goal, powered prostheses need controllers that can seamlessly adapt to the ambulation activity intended by the user. Most powered prosthesis control architectures address this issue by switching between specific controllers f...
