Development and Performance Verification of a Motorized Prosthetic Leg for Stair Walking

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static-preview.hindawi.com/articles/abb/volume-2020/8872362/figures/8872362.fig.0017a.svgz" name="8872362.fig.0017a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Level walking</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/abb/volume-2020/8872362/figures/8872362.fig.0017b.svgz" name="8872362.fig.0017b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Stair ascent</td></tr><tr class="fig-image" id="c"><td><object data="https://static-preview.hindawi.com/articles/abb/volume-2020/8872362/figures/8872362.fig.0017c.svgz" name="8872362.fig.0017c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Stair descent</td></tr></table>

<div>Comparison between the desired motion and the actual drive motion.</div>

Applied Bionics and Biomechanics

fig17

Figure 17

Figure 17: Development and Performance Verification of a Motorized Prosthetic Leg for Stair Walking 