Running With a Powered Knee and Ankle Prosthesis

May 6, 2015

Brian E. Lawson, Michael Goldfarb, Amanda H. Schultz

Running With a Powered Knee and Ankle Prosthesis

Abstract

This paper presents a running control architecture for a powered knee and ankle prosthesis that enables a transfemoral amputee to run with a biomechanically appropriate running gait and to intentionally transition between a walking and running gait. The control architecture consists firstly of a coordination level controller, which provides gait biomechanics representative of healthy running, and secondly of a gait selection controller that enables the user to intentionally transition between a running and walking gait. The running control architecturewas implemented on a transfemoral prosthesis with powered knee and ankle joints, and the efficacy of the controller was assessed in a series of running trials with a transfemoral amputee subject. Specifically, treadmill trials were conducted to assess the extent to which the coordination controller provided a biomechanically appropriate running gait. Separate trials were conducted to assess the ability of the user to consistently and reliably transition between walking and running gaits.

READ FULL ARTICLE ON IEEE XPLORE

Login

New Here? Sign Up

Looking for increased exposure in the field of biomedical engineering? EMBS offers journals, conferences and a community for biomedical engineers. Membership includes PULSE Magazine.

Join EMBS