Controlling Powered Prosthesis Kinematics Over Continuous Transitions Between Walk and Stair Ascent
Shihao Cheng,Curt A. Laubscher,Robert D. Gregg,Shihao Cheng,Curt A. Laubscher,Robert D. Gregg
One of the primary benefits of emerging powered prosthetic legs is their ability to facilitate step-over-step stair ascent by providing positive mechanical work. Existing control methods typically have distinct steady-state activity modes for walking and stair ascent, where activity transitions involve discretely switching between controllers and often must be initiated with a particular leg. Howe...
