Running With a Powered Knee and Ankle Prosthesis

Running With a Powered Knee and Ankle Prosthesis 556 235 Transactions on Neural Systems and Rehabilitation Engineering (TNSRE)


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.

Subscribe for Updates

Join our mailing list to receive the latest news and updates.