Improving Sit/Stand Loading Symmetry and Timing Through Unified Variable Impedance Control of a Powered Knee-Ankle Prosthesis
Cara Gonzalez Welker,
T. Kevin Best,
Robert D. Gregg
Abstract:Individuals using passive prostheses typically rely heavily on their biological limb to complete sitting and standing tasks, leading to slower completion times and increased rates of osteoarthritis and lower back pain. Powered prostheses can address these challenges, but have control methods that divide sit-stand transitions into discrete phases, limiting user synchronization across the motion and requiring long manual tuning times. This paper extends our preliminary work using a thigh-based phase variable to … Show more
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