Controlling a Powered Knee-Ankle Prosthesis over Variable-Incline Stair Ascent and Descent
Powered knee-ankle prostheses can offer benefits over conventional passive devices during stair locomotion by providing biomimetic net-positive work and active control of joint angles. However, many modern control approaches for stair ascent and descent are often limited by time-consuming hand-tuning of user/task-specific parameters, predefined trajectories that remove user volition, or heuristic approaches that cannot be applied to both stair ascent and descent. This work presents a phase-based hybrid kinematic and impedance controller (HKIC) that allows for semi-volitional, biomimetic stair ascent and descent at a variety of step heights. Experiments with above-knee amputee participants (N=2) validate that our HKIC controller produces biomimetic ascent and descent joint kinematics, kinetics, and work across four step height configurations. We also show improved kinematic performance with our HKIC controller in comparison to a passive microprocessor-controlled device during stair locomotion.
This video is supplemental material for the publication:
R. Cortino, T. K. Best, and R. Gregg, “Data-Driven Phase-Based Control of a Powered Knee-Ankle Prosthesis for Variable-Incline Stair Ascent and Descent,“ IEEE Trans. Medical Robotics and Bionics, 2023.
This work was supported by the National Institutes of Health and the National Science Foundation.
1 view
0
0
4 months ago 00:01:19 1
Hello! | Kids Greeting Song and Feelings Song | Super Simple Songs
4 months ago 00:10:26 1
DOLLAR TREE Meets WALMART TABLE TRANSFORMATION Idea to tryout!
4 months ago 00:34:55 1
IRAN - ISRAËL : ALLONS-NOUS VERS LA FIN DES TEMPS ? | PIERRE JOVANOVIC | GÉOPOLITIQUE PROFONDE
4 months ago 00:58:47 1
MY SUMMER CAR | СОБЕРИ или УМРИ! ЧЕЛЛЕНДЖ от @dedluar
4 months ago 00:28:42 1
MACRON EST LE VÉRITABLE DANGER QUI DÉTRUIT LA FRANCE ! | GÉNÉRAL COUSTOU | GÉOPOLITIQUE PROFONDE
4 months ago 00:01:32 1
Golden Slumbers (Remastered 2009)
4 months ago 01:59:23 1
Crowd Control b2b Marc Brauner @Djoon 29/10/21
4 months ago 00:32:15 1
DJ Addx - Hardstyle Fantasy Mix
4 months ago 00:06:37 1
Pink Floyd - “Another Brick in The Wall “ PULSE Remastered 2019
4 months ago 00:01:44 1
Muppy - GUILLOTINE (Remix by WHOAMI) (Edit by Lxrdhezee)
4 months ago 00:19:24 1
🆘 КАК СНИЗИТЬ ХОЛЕСТЕРИН? 🆘 Обзор всех способов понизить холестерин: НАРОДНЫЕ СРЕДСТВА и ЛЕКАРСТВА
4 months ago 00:03:10 1
Butterfly Ladybug Bumblebee | Super Simple Songs
4 months ago 00:05:38 1
Madonna - Like A Prayer (Official Video)
4 months ago 00:07:03 1
Le premier baromètre du contrôle technique automobile
4 months ago 00:03:00 1
Holly Dolly “Dolly Song“ ( Ieva’s polka )
4 months ago 00:11:00 1
Руководство по дыхательному методу Вима Хофа
4 months ago 00:05:17 1
F1 24 Official Gameplay Deep Dive
4 months ago 01:54:48 1
LE DÉSASTRE INAVOUÉ DE LA FRANCE EN AFRIQUE | COLONEL JACQUES HOGARD | GÉOPOLITIQUE PROFONDE