3 accepted papers
This paper explores the effects of a swing phase stumble recovery controller in a swing-assist prosthesis. The prosthesis detects a stumble event and employs either a lowering recovery response - wherein the user's swing is truncated, and the leg is prepared for loading- or an elevating recovery res…
Powered lower-limb exoskeletons have been shown to assist and augment walking, but most such devices do not currently have the ability to explicitly accommodate a stumble perturbation. A major challenge in doing so is identifying a stumble event and selecting in real-time which recovery strategy (el…
This paper presents a stumble recovery controller for a knee exoskeleton that detects a stumble perturbation; selects an anticipated recovery strategy; and provides appropriate recovery assistance. In order to assess the efficacy of the controller in providing an assistive response to a stumble pert…