The effects of swing assistance in a microprocessor-controlled transfemoral prosthesis on walking at varying speeds and grades

Abstract This article proposes, describes, and tests a swing-assist walking controller for stance-controlled, swing-assisted knee prosthesis that aims to combine benefits of passive swing mechanics (e.g., quiet operation, biomimetic function, low power requirements) with powered assistance increased robustness swing-phase motion specifically toe clearance). A three-participant, multislope, multispeed treadmill study was performed using the controller, as well participants’ prescribed microprocessor devices. The device approach were found improve user minimum foot clearance during at slopes speeds, also symmetry motion. Hip inputs from stance release heel strike indicated that, on average, less hip required when prosthesis, indicating observed likely result its control methodology, rather than joint effort.