DocumentCode :
3685142
Title :
Walking on uneven terrain with a powered ankle prosthesis: A preliminary assessment
Author :
Amanda H. Shultz;Brian E. Lawson;Michael Goldfarb
Author_Institution :
Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235 USA
fYear :
2015
Firstpage :
5299
Lastpage :
5302
Abstract :
A successful walking gait with a powered prosthesis depends heavily on proper timing of power delivery, or push-off. This paper describes a control approach which provides improved walking on uneven terrain relative to previous work intended for use on even (level) terrain. This approach is motivated by an initial healthy subject study which demonstrated less variation in sagittal plane shank angle than sagittal plane ankle angle when walking on uneven terrain relative to even terrain. The latter therefore replaces the former as the control signal used to initiate push-off in the powered prosthesis described herein. The authors demonstrate improvement in consistency for several gait characteristics, relative to healthy, as well as controller characteristics with the new control approach, including a 50% improvement in the consistency of the percentage of stride at which push-off is initiated.
Keywords :
"Legged locomotion","Prosthetics","Torque","Joints","Standards","Kinematics"
Publisher :
ieee
Conference_Titel :
Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE
ISSN :
1094-687X
Electronic_ISBN :
1558-4615
Type :
conf
DOI :
10.1109/EMBC.2015.7319587
Filename :
7319587
Link To Document :
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