This paper presents the development and preliminary validation of a control interface for a transfemoral prosthesis that enables EMG-based control of a powered knee during stair ascent. The approach uses results from non-amputee gait studies of stair ascent in the design of a control architecture that enables EMG modulation of knee torque in a manner biomechanically similar to that exhibited by non-amputee subjects. The myoelectric torque controller is formulated with a finite-state linear impedance model in stance and swing. The stance phase is modulated by surface EMG signals co-activated by antagonist residuum muscles. Preliminary results with a sound-limb subject using a knee immobilizer indicate that the EMG-based control architecture has the potential to enable the amputee to directly generate torque commands appropriate for stair ascent using an actively powered artificial limb.
- Dynamic Systems and Control Division
Preliminary Evaluation of Myoelectric Control of an Active Transfemoral Prosthesis During Stair Ascent
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Hoover, CD, & Fite, KB. "Preliminary Evaluation of Myoelectric Control of an Active Transfemoral Prosthesis During Stair Ascent." Proceedings of the ASME 2010 Dynamic Systems and Control Conference. ASME 2010 Dynamic Systems and Control Conference, Volume 1. Cambridge, Massachusetts, USA. September 12–15, 2010. pp. 801-808. ASME. https://doi.org/10.1115/DSCC2010-4158
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