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Title page for ETD etd-07152016-173301


Type of Document Master's Thesis
Author Ledoux, Elissa Danielle
URN etd-07152016-173301
Title Control and Evaluation of Stair Ascent with a Powered Transfemoral Prosthesis
Degree Master of Science
Department Mechanical Engineering
Advisory Committee
Advisor Name Title
Michael Goldfarb Committee Chair
Karl Zelik Committee Member
Thomas Withrow Committee Member
Keywords
  • amputee
  • prosthetics
Date of Defense 2016-07-15
Availability unrestricted
Abstract
This thesis describes the control and assessment of a powered transfemoral prosthesis for improving amputee stair ascent. It begins with motivation for the work and a description of current lower-limb prosthetic technology. Then it explains the finite-state-based impedance-admittance control philosophy and implementation for both the knee and the ankle joints of a powered prosthesis. Next, it presents experimental assessments and evaluates the effectiveness of the device and controller at reducing metabolic effort and improving joint biomechanics for three transfemoral amputee subjects climbing stairs. These sections finish with general conclusions regarding the biomechanical and energetic benefits of this technology.
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