Table 3.

Stair climbing deviations, user instructions, and prosthesis parameter adjustments.

Mode	Deviation	User instruction	Prosthesis setting
Stair ascent	Poor foot placement	Cue for proper body and foot position to prepare for stair ascent	Adjust swing extension phase ankle dorsiflexion angle to achieve a foot flat position
	Decreased foot clearance	Cue to stand tall and utilize hip flex during swing phase	Increase swing phase knee flexion angle for more clearance
	Vaulting, hip hiking, circumduction	Verbal and tactile cues to improve awareness of foot position and to limit excessive hip motions.	N/A
	Inadequate support and power during stance	Cue to increase stance time on prosthesis and decrease upper extremity support	Increase stance phase knee stiffness for improved support and power into knee extension
	Insufficient swing speed	N/A	Decrease or increase rate of swing flexion
Stair descent	Unable to initiate knee flexion at initial contact	Cue for body and foot position to prepare for stair descent	Decrease stance phase knee damping to allow for easier knee flexion at initial contact
	Inadequate support during stance	Cue to increase stance time on prosthesis	Increase stance phase knee damping for increased support into knee extension during early stance phase Increase stance phase knee stiffness for increased support into knee extension during mid to late stance phase
	Poor foot placement	Cue for proper body and foot position to prepare for stair descent	N/A
	Decreased foot clearance during swing	Verbal and tactile cues to increase stance time on prosthesis and decrease UE support	Increase swing phase ankle damping