Toward the Gait Analysis and Control of a Powered Lower Limb Orthosis in Ascending and Descending Stairs

Aging is inevitable for every human. Meniscus will gradually wear out with continuous loading and aging, it will result in a sour knee and lose the interest to walk or even standup. There is evidence that positive relationship between muscle activity and Electromyography (EMG). It is also noted that muscle contraction can be divided into two types, concentric and eccentric and will transmit through muscle before muscle contraction. With the differences, the model of EMG and moment could be established. It is suggested that if one can provide assistance at the correct time with the correct amount of energy, through a powered lower limb orthosis, one would be able to alleviate the problem of cartilage deteriorating and enable the elders to ascend and descent from the ladder.