Figure 1.
Diagram of finite state machine for level ground walking.
Figure 2.
Users (A) walking, (B) ascending a ramp, and (C) climbing stairs using the powered prosthesis.
Table 1.
User Characteristics.
Table 2.
Clinical Goals for Ambulation.
Table 3.
Kinematic Characteristics and Corresponding Impedance Parameters.
Table 4.
Number of Unique Independent Tuning Parameter Changes Per User.
Table 5.
Final Impedance Parameter Values by Mode and Phase for All Users.
Figure 3.
Average prosthetic knee and ankle joint kinematics and kinetics for each user.
Joint powers are normalized by the mass of the user wearing the powered prosthesis.