Edgar Bolívar-Nieto

Stair Ascent Phase-Variable Control of a Powered Knee-Ankle Prosthesis

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 bui…