Swing-Assist for Enhancing Stair Ambulation in a Primarily-Passive Knee Prosthesis

J.T. Lee; M. Goldfarb

ICRA 2020poster15 citations

Swing-Assist for Enhancing Stair Ambulation in a Primarily-Passive Knee Prosthesis

Abstract

This paper presents the design and implementation of a controller for stair ascent and descent in a primarily-passive stance-controlled swing-assist (SCSA) prosthesis. The prosthesis and controller enable users to perform both step-over and step-to stair ascent and descent. The efficacy of the controller and SCSA prosthesis prototype in providing improved stair ambulation was tested on a unilateral transfemoral amputee in experiments that employed motion capture apparatus to compare joint kinematics with the SCSA prosthesis, relative to performing the same activity with a microprocessor-controlled daily-use passive prosthesis. Results suggest that the SCSA knee significantly decreases compensatory motion during stair activity when compared to the passive prosthesis.

BibTeX

@inproceedings{icra2020_swingassistforen,
  title = {Swing-Assist for Enhancing Stair Ambulation in a Primarily-Passive Knee Prosthesis},
  author = {J.T. Lee and M. Goldfarb},
  booktitle = {ICRA 2020},
  year = {2020}
}