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Updated: Aug 31, 2025
08:24
Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb
Published on: August 30, 2016
10.3K
Modeling the Transitional Kinematics Between Variable-Incline Walking and Stair Climbing
Shihao Cheng1, Edgar Bolívar-Nieto2, Cara Gonzalez Welker2
1Department of Mechanical Engineering and the Robotics Institute, University of Michigan, Ann Arbor, MI, 48109 USA.
IEEE Transactions on Medical Robotics and Bionics
|August 22, 2022
Summary
This study presents a new control framework for powered prostheses, modeling lower-limb joint kinematics continuously for seamless transitions between walking and stair climbing. This approach enhances prosthetic adaptability and user synchrony during diverse ambulation tasks.
Area of Science:
- Biomechanics
- Robotics
- Rehabilitation Engineering
Background:
- Current powered prostheses use finite-state machines for control, leading to abrupt transitions between steady-state locomotion modes.
- This abrupt switching hinders seamless adaptation to varying speeds and inclines, impacting user experience and prosthetic performance during gait transitions.
Purpose of the Study:
- To introduce a novel control framework for powered prostheses that models lower-limb joint kinematics across a continuum of ambulation modes.
- To enable continuous adjustment of prosthetic leg biomechanics during transitions between walking and stair climbing, improving synchrony with users.
Main Methods:
- Developed continuous models for steady-state walking and stair climbing, representing joint kinematics as functions of gait phase, speed, and incline.
- Introduced transition models that interpolate between steady-state models using convex combinations, accounting for deviations outside the convex hull.
Main Results:
- Model predictions for untrained kinematics showed errors within the range of physiological variability across all joints.
- Simulations confirmed the model's robustness to errors in incline estimation and mode classification.
Conclusions:
- The proposed framework offers a continuous, adaptable control strategy for powered prostheses, moving beyond finite-state machines.
- This approach enhances prosthetic responsiveness during gait transitions, potentially improving mobility and user integration for individuals with lower-limb amputations.
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