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- W157032357 abstract "In an effort to improve the mobility of above-knee (A/K) amputees, an active multi-mode control scheme has been developed and implemented on a laboratory restricted man-interactive prosthesis simulator system. The active multi-mode scheme includes separate control algorithms for each of three locomotion modes (level walking, stair climbing, and ramp climbing) and an automatic intent recognizer. The prosthesis is controlled to duplicate the kinematics of a normal knee in each locomotion mode. The intent recognizer identifies which locomotion mode the amputee intends to perform via a finite state approach and automatically selects the appropriate control algorithm. The scheme was tested by two young active amputees in locomotion trails. Both amputees could perform the active locomotion modes and transitions between locomotion modes without any major difficulties. Results were promising. The active level walking approach appears to be possible in a self contained prosthesis. Active stair climbing and active ramp climbing require more energy and power but allow step-over-step stair climbing and ramp climbing without nearly as much circumduction and vaulting as required with a conventional prosthesis. Transitions between locomotion modes were smooth and easy to perform. Active multi-mode control appears to be a promising method to expand the functions of A/K prostheses." @default.
- W157032357 created "2016-06-24" @default.
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- W157032357 date "1982-05-01" @default.
- W157032357 modified "2023-09-25" @default.
- W157032357 title "Multi-Mode Above-Knee Prosthesis Controller" @default.
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- W157032357 doi "https://doi.org/10.1016/s1474-6670(17)63296-8" @default.
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