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Active lower limb exoskeletons can provide assistance to the lower extremities and may drastically improve the walking abilities of millions of individuals with gait impairments. However, most currently available control systems for these devices cannot predict the user's intended movements and have yet to enable walking with seamless transitions. Recent developments in intent recognition for active...
We present a novel powered knee prosthesis with an active variable transmission (AVT) that adapts motor torque and speed output based on the requirements of different ambulation activities. The AVT works in combination with a spring/damper system to allow for both active and passive operation modes. Preliminary tests performed by an able-bodied subject wearing a bypass orthosis show that the proposed...
Powered knee and ankle prostheses have the potential to improve the mobility of individuals with a lower limb amputation. As the number of different ambulation modes the prosthesis can be configured for increases, so too does the challenge of how to best transition the prosthesis between these modes. Pattern recognition systems have been suggested as a means to provide seamless and natural transitions,...
The majority of fall-related accidents are during stair ambulation—occurring commonly at the top and bottom stairs of each flight, locations in which individuals are transitioning to stairs. Little is known about how individuals adjust their biomechanics in anticipation of walking-stair transitions.We identified the anticipatory stride mechanics of nine able-bodied individuals as they approached transitions...
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