Stair Ascent Phase-Variable Control of a Powered Knee-Ankle Prosthesis
Ross J. Cortino,Edgar Bolívar-Nieto,T. Kevin Best,Robert D. Gregg,Ross J. Cortino,Edgar Bolívar-Nieto,T. Kevin Best,Robert D. Gregg
Passive prostheses cannot provide the net positive work required at the knee and ankle for step-over stair ascent. Powered prostheses can provide this net positive work, but user synchronization of joint motion and power input are critical to enabling natural stair ascent gaits. In this work, we build on previous phase variable-based control methods for walking and propose a stair ascent controlle...
