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Puliti M, Driessen J, Vitale N, Tessari F, Traverso S, Laffranchi M, De Michieli L, Shtrepi L. Use of Metamaterials to Reduce Acoustic Noise Emissions from Lower Limb Prostheses: An Experimental Validation. IEEE Int Conf Rehabil Robot 2023; 2023:1-6. [PMID: 37941189 DOI: 10.1109/icorr58425.2023.10304769] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2023]
Abstract
Recent human-centred design studies suggest that acoustic noise could affect the physical use and psychological acceptance of a biomedical device. These aspects are especially relevant in the prosthetic field, in which device loudness is often related to rejection. The aim of the study is to inquire on the possibility to reduce the acoustic noise emitted by a robotic leg prosthesis by improving its casing. First, acoustic noise emissions are characterized experimentally using an anechoic chamber, both for the whole prosthesis, and for its actuator (i.e., noise source) in isolation. The characterizations show that the whole prosthesis including its casing amplify the actuator noise, and that noise emissions are concentrated within a certain frequency range. Based on these findings, the prosthesis casing has been redesigned to include a panel of Helmholtz resonator-based acoustic metamaterials as proof of concept, which attenuate respective noise emissions. Experimental validations show that the use of such metamaterials in the prosthesis casing can significantly reduce noise emissions without compromising on prosthesis size and weight.
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Kim M, Simon AM, Shah K, Hargrove LJ. Machine Learning-Based Gait Mode Prediction for Hybrid Knee Prosthesis Control. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2023; 2023:1-6. [PMID: 38083529 DOI: 10.1109/embc40787.2023.10340388] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/18/2023]
Abstract
Recently, hybrid prosthetic knees, which can combine the advantages of passive and active prosthetic knees, have been proposed for individuals with a transfemoral amputation. Users could potentially take advantage of the passive knee mechanics during walking and the active power generation during stair ascent. One challenge in controlling the hybrid knees is accurate gait mode prediction for seamless transitions between passive and active modes. However, data imbalance between passive and active modes may impact the performance of a classifier. In this study, we used a dataset collected from nine individuals with a unilateral transfemoral amputation as they ambulated over level ground, inclines, and stairs. We evaluated several machine learning-based classifiers on the prediction of passive (level-ground walking, incline walking, descending stairs, and donning and doffing the prosthesis) and active mode (ascending stairs). In addition, we developed a generative adversarial network (GAN) to create synthetic data for improving classification performance. The results indicated that linear discriminant analysis and random forest might be the best classifiers regarding sensitivity to the active mode and overall accuracy, respectively. Further, we demonstrated that using the GAN-based synthetic data for training improves the sensitivity of classifiers.
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Rasheed F, Martin S, Tse KM. Design, Kinematics and Gait Analysis, of Prosthetic Knee Joints: A Systematic Review. Bioengineering (Basel) 2023; 10:773. [PMID: 37508800 PMCID: PMC10376202 DOI: 10.3390/bioengineering10070773] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/25/2023] [Revised: 06/19/2023] [Accepted: 06/23/2023] [Indexed: 07/30/2023] Open
Abstract
The aim of this review article is to appraise the design and functionality of above-knee prosthetic legs. So far, various transfemoral prosthetic legs are found to offer a stable gait to amputees but are limited to laboratories. The commercially available prosthetic legs are not reliable and comfortable enough to satisfy amputees. There is a dire need for creating a powered prosthetic knee joint that could address amputees' requirements. To pinpoint the gap in transfemoral prosthetic legs, prosthetic knee unit model designs, control frameworks, kinematics, and gait evaluations are concentrated. Ambulation exercises, ground-level walking, running, and slope walking are considered to help identify research gaps and areas where existing prostheses can be ameliorated. The results show that above-knee amputees can more effectively manage their issues with the aid of an active prosthesis, capable of reliable gait. To accomplish the necessary control, closed loop controllers and volitional control are integral parts. Future studies should consider designing a transfemoral electromechanical prosthesis based on electromyographic (EMG) signals to better predict the amputee's intent and control in accordance with that intent.
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Affiliation(s)
- Faiza Rasheed
- Department of Mechanical Engineering and Product Design Engineering, Swinburne University of Technology, 3122 Victoria, Australia
| | - Suzanne Martin
- Institute for Health and Sport, Victoria University, 3011 Victoria, Australia
| | - Kwong Ming Tse
- Department of Mechanical Engineering and Product Design Engineering, Swinburne University of Technology, 3122 Victoria, Australia
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Lee J, Goldfarb M. The effects of swing assistance in a microprocessor-controlled transfemoral prosthesis on walking at varying speeds and grades. WEARABLE TECHNOLOGIES 2023; 4:e9. [PMID: 38487774 PMCID: PMC10936271 DOI: 10.1017/wtc.2023.4] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/05/2022] [Revised: 01/03/2023] [Accepted: 02/06/2023] [Indexed: 03/17/2024]
Abstract
This article proposes, describes, and tests a swing-assist walking controller for a stance-controlled, swing-assisted knee prosthesis that aims to combine benefits of passive swing mechanics (e.g., quiet operation, biomimetic function, and low power requirements) with benefits of powered swing assistance (e.g., increased robustness of swing-phase motion and specifically increased toe clearance). A three-participant, multislope, multispeed treadmill walking study was performed using the swing-assist prosthesis and controller, as well as using the participants' prescribed microprocessor knee devices. The swing-assist device and approach were found to improve user minimum foot clearance during walking at slopes and speeds, and also to improve symmetry of knee motion. Hip power inputs from stance knee release to heel strike indicated that, on average, less hip power was required when using the swing-assist prosthesis, indicating that the observed benefits were likely the result of the knee device and its control methodology, rather than a result of increased hip joint effort.
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Affiliation(s)
- Jantzen Lee
- Mechanical Engineering, Vanderbilt University, Nashville, TN, USA
| | - Michael Goldfarb
- Mechanical Engineering, Vanderbilt University, Nashville, TN, USA
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5
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Kooiman VGM, van Staveren ES, Leijendekkers RA, Buurke JH, Verdonschot N, Prinsen EC, Weerdesteyn V. Testing and evaluation of lower limb prosthesis prototypes in people with a transfemoral amputation: a scoping review on research protocols. J Neuroeng Rehabil 2023; 20:1. [PMID: 36635703 PMCID: PMC9835280 DOI: 10.1186/s12984-023-01125-8] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/27/2022] [Accepted: 01/07/2023] [Indexed: 01/14/2023] Open
Abstract
BACKGROUND When developing new lower limb prostheses, prototypes are tested to obtain insights into the performance. However, large variations between research protocols may complicate establishing the potential added value of newly developed prototypes over other prostheses. OBJECTIVE This review aims at identifying participant characteristics, research protocols, reference values, aims, and corresponding outcome measures used during prosthesis prototype testing on people with a transfemoral amputation. METHODS A systematic search was done on PubMed and Scopus from 2000 to December 2020. Articles were included if testing was done on adults with transfemoral or knee disarticulation amputation; testing involved walking with a non-commercially available prototype leg prosthesis consisting of at least a knee component; and included evaluations of the participants' functioning with the prosthesis prototype. RESULTS From the initial search of 2027 articles, 48 articles were included in this review. 20 studies were single-subject studies and 4 studies included a cohort of 10 or more persons with a transfemoral amputation. Only 5 articles reported all the pre-defined participant characteristics that were deemed relevant. The familiarization time with the prosthesis prototype prior to testing ranged from 5 to 10 min to 3 months; in 25% of the articles did not mention the extent of the familiarization period. Mobility was most often mentioned as the development or testing aim. A total of 270 outcome measures were identified, kinetic/kinematic gait parameters were most often reported. The majority of outcome measures corresponded to the mobility aim. For 48% of the stated development aims and 4% of the testing aims, no corresponding outcome measure could be assigned. Results indicated large inconsistencies in research protocols and outcome measures used to validate pre-determined aims. CONCLUSIONS The large variation in prosthesis prototype testing and reporting calls for the development of a core set of reported participant characteristics, testing protocols, and specific and well-founded outcome measures, tailored to the various aims and development phases. The use of such a core set can give greater insights into progress of developments and determine which developments have additional benefits over the state-of-the-art. This review may contribute as initial input towards the development of such a core set.
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Affiliation(s)
- Vera G. M. Kooiman
- grid.10417.330000 0004 0444 9382Orthopedic Research Laboratory, Radboud University Medical Center, P.O. Box 9101, 6500 HB Nijmegen, The Netherlands ,grid.10417.330000 0004 0444 9382Department of Rehabilitation, Radboud University Medical Center, Donders Institute for Brain, Cognition and Behaviour, P.O. Box 9101, 6500 HB Nijmegen, The Netherlands
| | - Eline S. van Staveren
- grid.419315.bRoessingh Research and Development, PO Box 310, 7500 AH Enschede, The Netherlands
| | - Ruud A. Leijendekkers
- grid.10417.330000 0004 0444 9382Orthopedic Research Laboratory, Radboud University Medical Center, P.O. Box 9101, 6500 HB Nijmegen, The Netherlands ,grid.10417.330000 0004 0444 9382Department of Rehabilitation, Radboud University Medical Center, Donders Institute for Brain, Cognition and Behaviour, P.O. Box 9101, 6500 HB Nijmegen, The Netherlands ,grid.10417.330000 0004 0444 9382Radboud Institute for Health Sciences, IQ Healthcare, Radboud University Medical Center, P.O. Box 9101, 6500 HB Nijmegen, The Netherlands
| | - Jaap H. Buurke
- grid.419315.bRoessingh Research and Development, PO Box 310, 7500 AH Enschede, The Netherlands ,Roessingh Center for Rehabilitation, Postbus 310, 7500 AH Enschede, The Netherlands ,grid.6214.10000 0004 0399 8953Department of Biomechanical Engineering, Faculty of Engineering Technology, University of Twente, P.O. Box 217, 7500 AE Enschede, The Netherlands
| | - Nico Verdonschot
- grid.10417.330000 0004 0444 9382Orthopedic Research Laboratory, Radboud University Medical Center, P.O. Box 9101, 6500 HB Nijmegen, The Netherlands ,grid.6214.10000 0004 0399 8953Department of Biomechanical Engineering, Faculty of Engineering Technology, University of Twente, P.O. Box 217, 7500 AE Enschede, The Netherlands
| | - Erik C. Prinsen
- grid.419315.bRoessingh Research and Development, PO Box 310, 7500 AH Enschede, The Netherlands ,grid.6214.10000 0004 0399 8953Department of Biomechanical Engineering, Faculty of Engineering Technology, University of Twente, P.O. Box 217, 7500 AE Enschede, The Netherlands
| | - Vivian Weerdesteyn
- grid.10417.330000 0004 0444 9382Department of Rehabilitation, Radboud University Medical Center, Donders Institute for Brain, Cognition and Behaviour, P.O. Box 9101, 6500 HB Nijmegen, The Netherlands ,grid.452818.20000 0004 0444 9307Sint Maartenskliniek, Research & Rehabilitation, P.O. Box 9011, 6500 GM Nijmegen, The Netherlands
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6
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Li Z, Liu C, Han Y, Wang T, Lei R. Design, fabrication and experiments of a hydraulic active-passive hybrid prosthesis knee. Technol Health Care 2023:THC220522. [PMID: 36641694 DOI: 10.3233/thc-220522] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/12/2023]
Abstract
BACKGROUND Due to low friction, passive mechanical prostheses move compliantly followed by the stump and are used widely. Advanced semi-active prostheses can both move passively like passive prostheses and provide active torque under specific conditions. However, the current mechanical-hydraulic coupling driven semi-active prostheses, in order to meet the low passive friction requirements with a low active transmission ratio, lead to a significant problem of insufficient active torque. OBJECTIVE A hybrid active and passive prosthesis was developed to solve the incompatibility problem of low passive friction and high active driving torque of semi-active prostheses. METHODS The mechanical structure and control strategy of the prosthesis were demonstrated. The performance of the prosthesis was tested by bench and human tests. RESULTS Passive subsystem damping adjustment ranges from 0.4 N⋅(mm/s)-1 to 300 N⋅(mm/s)-1. The switching time between the damping and the active subsystem is 32 ± 2 ms. The continuous active torque output is more than 24 Nm. In level walking, the peak torque is about 28 Nm. CONCLUSION The proposed active-passive hybrid hydraulic prosthesis could satisfy both low passive friction and high active actuation.
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Affiliation(s)
- Zhennan Li
- School of Mechanical and Aerospace Engineering, Jilin University, Changchun, Jilin, China.,Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun, Jilin, China
| | - Chunbao Liu
- School of Mechanical and Aerospace Engineering, Jilin University, Changchun, Jilin, China.,Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun, Jilin, China
| | - Yang Han
- School of Mechanical and Aerospace Engineering, Jilin University, Changchun, Jilin, China.,Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun, Jilin, China
| | - Tongjian Wang
- School of Mechanical and Aerospace Engineering, Jilin University, Changchun, Jilin, China
| | - Ren Lei
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun, Jilin, China.,School of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester, UK
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7
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Liang W, Qian Z, Chen W, Song H, Cao Y, Wei G, Ren L, Wang K, Ren L. Mechanisms and component design of prosthetic knees: A review from a biomechanical function perspective. Front Bioeng Biotechnol 2022; 10:950110. [PMID: 36185421 PMCID: PMC9521192 DOI: 10.3389/fbioe.2022.950110] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/22/2022] [Accepted: 08/17/2022] [Indexed: 11/13/2022] Open
Abstract
Prosthetic knees are state-of-the-art medical devices that use mechanical mechanisms and components to simulate the normal biological knee function for individuals with transfemoral amputation. A large variety of complicated mechanical mechanisms and components have been employed; however, they lack clear relevance to the walking biomechanics of users in the design process. This article aims to bridge this knowledge gap by providing a review of prosthetic knees from a biomechanical perspective and includes stance stability, early-stance flexion and swing resistance, which directly relate the mechanical mechanisms to the perceived walking performance, i.e., fall avoidance, shock absorption, and gait symmetry. The prescription criteria and selection of prosthetic knees depend on the interaction between the user and prosthesis, which includes five functional levels from K0 to K4. Misunderstood functions and the improper adjustment of knee prostheses may lead to reduced stability, restricted stance flexion, and unnatural gait for users. Our review identifies current commercial and recent studied prosthetic knees to provide a new paradigm for prosthetic knee analysis and facilitates the standardization and optimization of prosthetic knee design. This may also enable the design of functional mechanisms and components tailored to regaining lost functions of a specific person, hence providing individualized product design.
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Affiliation(s)
- Wei Liang
- Key Laboratory of Bionic Engineering, Jilin University, Ministry of Education, Changchun, China
| | - Zhihui Qian
- Key Laboratory of Bionic Engineering, Jilin University, Ministry of Education, Changchun, China
| | - Wei Chen
- Key Laboratory of Bionic Engineering, Jilin University, Ministry of Education, Changchun, China
| | - Hounan Song
- Key Laboratory of Bionic Engineering, Jilin University, Ministry of Education, Changchun, China
| | - Yu Cao
- Key Laboratory of Bionic Engineering, Jilin University, Ministry of Education, Changchun, China
| | - Guowu Wei
- School of Science, Engineering and Environment, University of Salford, Salford, United Kingdom
| | - Lei Ren
- Key Laboratory of Bionic Engineering, Jilin University, Ministry of Education, Changchun, China
- School of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester, United Kingdom
- *Correspondence: Lei Ren, ; Kunyang Wang,
| | - Kunyang Wang
- Key Laboratory of Bionic Engineering, Jilin University, Ministry of Education, Changchun, China
- *Correspondence: Lei Ren, ; Kunyang Wang,
| | - Luquan Ren
- Key Laboratory of Bionic Engineering, Jilin University, Ministry of Education, Changchun, China
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8
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Zhu J, Jiao C, Dominguez I, Yu S, Su H. Design and Backdrivability Modeling of a Portable High Torque Robotic Knee Prosthesis With Intrinsic Compliance For Agile Activities. IEEE/ASME TRANSACTIONS ON MECHATRONICS : A JOINT PUBLICATION OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY AND THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2022; 27:1837-1845. [PMID: 36909775 PMCID: PMC10004087 DOI: 10.1109/tmech.2022.3176255] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/18/2023]
Abstract
High-performance prostheses are crucial to enable versatile activities like walking, squatting, and running for lower extremity amputees. State-of-the-art prostheses are either not powerful enough to support demanding activities or have low compliance (low backdrivability) due to the use of high speed ratio transmission. Besides speed ratio, gearbox design is also crucial to the compliance of wearable robots, but its role is typically ignored in the design process. This paper proposed an analytical backdrive torque model that accurately estimate the backdrive torque from both motor and transmission to inform the robot design. Following this model, this paper also proposed methods for gear transmission design to improve compliance by reducing inertia of the knee prosthesis. We developed a knee prosthesis using a high torque actuator (built-in 9:1 planetary gear) with a customized 4:1 low-inertia planetary gearbox. Benchtop experiments show the backdrive torque model is accurate and proposed prosthesis can produce 200 Nm high peak torque (shield temperature <60°C), high compliance (2.6 Nm backdrive torque), and high control accuracy (2.7/8.1/1.7 Nm RMS tracking errors for 1.25 m/s walking, 2 m/s running, and 0.25 Hz squatting, that are 5.4%/4.1%/1.4% of desired peak torques). Three able-bodied subject experiments showed our prosthesis could support agile and high-demanding activities.
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Affiliation(s)
| | | | | | | | - Hao Su
- Corresponding author: Hao Su.
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9
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Simon AM, Ursetta F, Shah K, Stephens M, Ikeda AJ, Finucane SB, McClerklin E, Lipsey J, Hargrove LJ. Ambulation Control System Design for a Hybrid Knee Prosthesis. IEEE Int Conf Rehabil Robot 2022; 2022:1-6. [PMID: 36173764 DOI: 10.1109/icorr55369.2022.9896607] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
Prosthetic knees available to individuals with transfemoral amputation seek to restore functional ability to the user. Passive prosthetic knees are lightweight but can restore only limited, dissipative ambulation activities whereas active knees can provide energy to restore additional ambulation activities such as stair climbing and standing up from a chair. Semi-active prosthetic devices aim to only power a subset of activities and use passive components and control when that power is not necessary. Here, we outline an ambulation control system for a lightweight Hybrid Knee prosthesis that is powered for climbing stairs and passive for other ambulation activities (level-ground walking, walking on an incline, and stair descent). We include preliminary offline and online intent recognition system results for one able-bodied user and one individual with a transfemoral amputation demonstrating low error rates in predicting between active and passive control.
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10
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Wu Z, Chen Y, Geng Y, Wang X, Xuan B. Model‐free robust adaptive integral sliding mode impedance control of knee–ankle–toe active transfemoral prosthesis. Int J Med Robot 2022; 18:e2378. [DOI: 10.1002/rcs.2378] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/04/2021] [Revised: 12/01/2021] [Accepted: 01/29/2022] [Indexed: 11/10/2022]
Affiliation(s)
- Zhengen Wu
- School of Artificial Intelligence Hebei University of Technology Hongqiao District China
| | - Yawei Chen
- School of Artificial Intelligence Hebei University of Technology Hongqiao District China
| | - Yanli Geng
- School of Artificial Intelligence Hebei University of Technology Hongqiao District China
- Engineering Research Center of Intelligent Rehabilitation Device and Detection Technology Ministry of Education Jingjin Science and Technology Valley Wuqing District China
| | - Xirui Wang
- School of Artificial Intelligence Hebei University of Technology Hongqiao District China
| | - Bokai Xuan
- School of Artificial Intelligence Hebei University of Technology Hongqiao District China
- Engineering Research Center of Intelligent Rehabilitation Device and Detection Technology Ministry of Education Jingjin Science and Technology Valley Wuqing District China
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11
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Wang X, Xiu H, Zhang Y, Liang W, Chen W, Wei G, Ren L, Ren L. Design and Validation of a Polycentric Hybrid Knee Prosthesis with Electromagnet-Controlled Mode Transition. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3193462] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Affiliation(s)
- Xu Wang
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun, China
| | - Haohua Xiu
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun, China
| | - Yao Zhang
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun, China
| | - Wei Liang
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun, China
| | - Wei Chen
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun, China
| | - Guowu Wei
- School of Science, Engineering and Environment, University of Salford, Salford, UK
| | - Lei Ren
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun, China
| | - Luquan Ren
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun, China
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12
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Lee JT, Goldfarb M. Effect of a Swing-Assist Knee Prosthesis on Stair Ambulation. IEEE Trans Neural Syst Rehabil Eng 2021; 29:2046-2054. [PMID: 34587090 DOI: 10.1109/tnsre.2021.3116787] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Abstract
This paper describes stair ambulation control and functionality of a semi-powered knee prosthesis that supplements nominally passive prosthesis behavior with swing-phase assistance. A set of stair ascent and descent controllers are described. The controllers were implemented in a semi-powered prosthesis prototype, and the prospective benefits of swing assist in stair ambulation were assessed on a group of three participants with unilateral, transfemoral amputation, relative to their respective daily-use prostheses. Results indicate that ambulation with the semi-powered knee resulted in improved stair ascent gait symmetry when compared to the participants' passive daily-use devices, and increased similitude to healthy stair ascent movement.
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13
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Han Y, Liu C, Yan L, Ren L. Design of Decision Tree Structure with Improved BPNN Nodes for High-Accuracy Locomotion Mode Recognition Using a Single IMU. SENSORS (BASEL, SWITZERLAND) 2021; 21:E526. [PMID: 33450967 PMCID: PMC7828453 DOI: 10.3390/s21020526] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/07/2020] [Revised: 01/07/2021] [Accepted: 01/11/2021] [Indexed: 12/16/2022]
Abstract
Smart wearable robotic system, such as exoskeleton assist device and powered lower limb prostheses can rapidly and accurately realize man-machine interaction through locomotion mode recognition system. However, previous locomotion mode recognition studies usually adopted more sensors for higher accuracy and effective intelligent algorithms to recognize multiple locomotion modes simultaneously. To reduce the burden of sensors on users and recognize more locomotion modes, we design a novel decision tree structure (DTS) based on using an improved backpropagation neural network (IBPNN) as judgment nodes named IBPNN-DTS, after analyzing the experimental locomotion mode data using the original values with a 200-ms time window for a single inertial measurement unit to hierarchically identify nine common locomotion modes (level walking at three kinds of speeds, ramp ascent/descent, stair ascent/descent, Sit, and Stand). In addition, we reduce the number of parameters in the IBPNN for structure optimization and adopted the artificial bee colony (ABC) algorithm to perform global search for initial weight and threshold value to eliminate system uncertainty because randomly generated initial values tend to result in a failure to converge or falling into local optima. Experimental results demonstrate that recognition accuracy of the IBPNN-DTS with ABC optimization (ABC-IBPNN-DTS) was up to 96.71% (97.29% for the IBPNN-DTS). Compared to IBPNN-DTS without optimization, the number of parameters in ABC-IBPNN-DTS shrank by 66% with only a 0.58% reduction in accuracy while the classification model kept high robustness.
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Affiliation(s)
- Yang Han
- The School of Mechanical Science and Aerospace Engineering, Jilin University, Changchun 130000, China;
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130000, China
| | - Chunbao Liu
- The School of Mechanical Science and Aerospace Engineering, Jilin University, Changchun 130000, China;
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130000, China
| | - Lingyun Yan
- The School of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester M13 9PL, UK;
| | - Lei Ren
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130000, China
- The School of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester M13 9PL, UK;
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14
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Bartlett HL, King ST, Goldfarb M, Lawson BE. A Semi-Powered Ankle Prosthesis and Unified Controller for Level and Sloped Walking. IEEE Trans Neural Syst Rehabil Eng 2021; 29:320-329. [PMID: 33400653 DOI: 10.1109/tnsre.2021.3049194] [Citation(s) in RCA: 13] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
This paper describes a semi-powered ankle prosthesis and corresponding unified controller that provides biomimetic behavior for level and sloped walking without requiring identification of ground slope or modulation of control parameters. The controller is based on the observation that healthy individuals maintain an invariant external quasi-stiffness (spring like behavior between the shank and ground) when walking on level and sloped terrain. Emulating an invariant external quasi-stiffness requires an ankle that can vary the set-point (i.e., equilibrium angle) of the ankle stiffness. A semi-powered ankle prosthesis that incorporates a novel constant-volume power-asymmetric actuator was developed to provide this behavior, and the unified controller was implemented on it. The device and unified controller were assessed on three subjects with transtibial amputations while walking on inclines, level ground, and declines. Experimental results suggest that the prosthesis and accompanying controller can provide a consistent external quasi-stiffness similar to healthy subjects across all tested ground slopes.
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