Stair Ascent With a Powered Transfemoral Prosthesis Under Direct Myoelectric Control

  title={Stair Ascent With a Powered Transfemoral Prosthesis Under Direct Myoelectric Control},
  author={Carl D. Hoover and George D. Fulk and Kevin B. Fite},
  journal={IEEE/ASME Transactions on Mechatronics},
This paper presents experimental results of a myoelectric controller designed for reciprocal stair ascent using a transfemoral prosthesis with an actively powered knee joint. The control architecture is derived from able-bodied gait data and estimates knee torque with a linear two-state (stance/swing) impedance control form that includes proportional myoelectric torque control combined with a state-determined knee impedance. The experimentally implemented control interface affords the amputee… CONTINUE READING
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