Publications by authors named "Suzi Creveling"
Existing controllers for robotic powered prostheses regulate the prosthesis speed, timing, and energy generation using predefined position or torque trajectories. This approach enables climbing stairs step-over-step. However, it does not provide amputees with direct volitional control of the robotic prosthesis, a functionality necessary to restore full mobility to the user.
View Article and Find Full Text PDFPowered lower-limb prostheses have the potential to improve amputee mobility by closely imitating the biomechanical function of the missing biological leg. To accomplish this goal, powered prostheses need controllers that can seamlessly adapt to the ambulation activity intended by the user. Most powered prosthesis control architectures address this issue by switching between specific controllers for each activity.
View Article and Find Full Text PDFAmbulation in everyday life requires walking at variable speeds, variable inclines, and variable terrains. Powered prostheses aim to provide this adaptability through control of the actuated joints. Some powered prosthesis controllers can adapt to discrete changes in speed and incline but require manual tuning to determine the control parameters, leading to poor clinical viability.
View Article and Find Full Text PDFArticle Synopsis
- - The study investigates how a powered hip exoskeleton affects walking efficiency in individuals with above-knee amputations, hypothesizing that it reduces energy used by the residual limb.
- - Eight participants walked on a treadmill with and without the exoskeleton, measuring various biomechanical factors, leading to a significant decrease in energy exerted by the residual hip.
- - Results show that using the exoskeleton reduced the net energy and hip extension torque during walking, suggesting that this assistance improves walking economy by making movement easier for those with amputations.
Ambulation with existing prostheses is extremely difficult for individuals with bilateral above-knee amputations. Commonly prescribed prostheses are passive devices that cannot replace the biomechanical functions of the missing biological legs. As a result, most individuals with bilateral above-knee amputations can only walk for short distances, have a high risk of falling, and are unable to ascend stairs with a natural gait pattern.
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