Stair ascent and descent control for powered lower limb devices
作者： Michael Goldfarb , Brian Lawson , Huseyin Atakan Varol
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摘要: Systems and methods of operating a lower limb device having at least powered joint are provided. A method includes configuring the to first state in finite model for current activity mode including stair ascent or descent mode. The also includes, based on real-time sensor information, transitioning between different states when pre-defined criteria among met. In method, lifting swing phases, where phase knee extension ankle push-off. yielding states, include providing plantarflexion resistive passive joint.
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