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Domínguez-Ruiz A, López-Caudana EO, Lugo-González E, Espinosa-García FJ, Ambrocio-Delgado R, García UD, López-Gutiérrez R, Alfaro-Ponce M, Ponce P. Low limb prostheses and complex human prosthetic interaction: A systematic literature review. Front Robot AI 2023; 10:1032748. [PMID: 36860557 PMCID: PMC9968924 DOI: 10.3389/frobt.2023.1032748] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/31/2022] [Accepted: 01/11/2023] [Indexed: 02/15/2023] Open
Abstract
A few years ago, powered prostheses triggered new technological advances in diverse areas such as mobility, comfort, and design, which have been essential to improving the quality of life of individuals with lower limb disability. The human body is a complex system involving mental and physical health, meaning a dependant relationship between its organs and lifestyle. The elements used in the design of these prostheses are critical and related to lower limb amputation level, user morphology and human-prosthetic interaction. Hence, several technologies have been employed to accomplish the end user's needs, for example, advanced materials, control systems, electronics, energy management, signal processing, and artificial intelligence. This paper presents a systematic literature review on such technologies, to identify the latest advances, challenges, and opportunities in developing lower limb prostheses with the analysis on the most significant papers. Powered prostheses for walking in different terrains were illustrated and examined, with the kind of movement the device should perform by considering the electronics, automatic control, and energy efficiency. Results show a lack of a specific and generalised structure to be followed by new developments, gaps in energy management and improved smoother patient interaction. Additionally, Human Prosthetic Interaction (HPI) is a term introduced in this paper since no other research has integrated this interaction in communication between the artificial limb and the end-user. The main goal of this paper is to provide, with the found evidence, a set of steps and components to be followed by new researchers and experts looking to improve knowledge in this field.
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Affiliation(s)
- Adan Domínguez-Ruiz
- Institute for the Future of Education, Tecnologico de Monterrey, Mexico City, México
| | | | - Esther Lugo-González
- Instituto de Electrónica y Mecatrónica, Universidad Tecnológica de la Mixteca, Huajuapan de León, Oaxaca, México
| | | | - Rocío Ambrocio-Delgado
- División de Estudios de Posgrado, Universidad Tecnológica de la Mixteca, Huajuapan de León, Oaxaca, México
| | - Ulises D. García
- CONACYT-CINVESTAV, Av. Instituto Politécnico Nacional 2508, col. San Pedro Zacatenco, Ciudad deMéxico, México
| | - Ricardo López-Gutiérrez
- CONACYT-CINVESTAV, Av. Instituto Politécnico Nacional 2508, col. San Pedro Zacatenco, Ciudad deMéxico, México
| | - Mariel Alfaro-Ponce
- Institute of Advanced Materials for Sustainable Manufacturing, Tecnologico de Monterrey, Mexico City, México
| | - Pedro Ponce
- Institute of Advanced Materials for Sustainable Manufacturing, Tecnologico de Monterrey, Mexico City, México,*Correspondence: Pedro Ponce,
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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] [What about the content of this article? (0)] [Affiliation(s)] [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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He Y, Liu J, Li F, Cao W, Wu X. Design and analysis of a lightweight lower extremity exoskeleton with novel compliant ankle joints. Technol Health Care 2021; 30:881-894. [PMID: 34657860 DOI: 10.3233/thc-213177] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/15/2022]
Abstract
BACKGROUND The exoskeleton for lower limb rehabilitation is an uprising field of robot technology. However, since it is difficult to achieve all the optimal design values at the same time, each lower extremity exoskeleton has its own focus. OBJECTIVE This study aims to develop a modular lightweight lower extremity exoskeleton (MOLLEE) with novel compliant ankle joints, and evaluate the movement performance through kinematics analysis. METHODS The overall structure of the exoskeleton was proposed and the adjustable frames, active joint modules, and compliant ankle joints were designed. The forward and inverse kinematics models were established based on the geometric method. The theoretical models were validated by numerical simulations in ADAMS, and the kinematic performance was demonstrated through walking experiments. RESULTS The proposed lower extremity offers six degrees of freedom (DoF). The exoskeleton frame was designed adjustable to fit wearers with a height between 1.55 m and 1.80 m, and waist width from 37 cm to 45 cm. The joint modules can provide maximum torque at 107 Nm for adequate knee and hip joint motion forces. The compliant ankle can bear large flexible deformation, and the relationship between its angular deformation and the contact force can be fitted with a quadratic polynomial function. The kinematics models were established and verified through numerical simulations, and the walking experiments in different action states have shown the expected kinematic characteristics of the designed exoskeleton. CONCLUSIONS The proposed MOLLEE exoskeleton is adjustable, modular, and compliant. The designed adjustable frame and compliant ankle can ensure comfort and safety for different wearers. In addition, the kinematics characteristics of the exoskeleton can meet the needs of daily rehabilitation activities.
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Affiliation(s)
- Yong He
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China.,CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China.,Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen, Guangdong, China.,Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China
| | - Jingshuai Liu
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China.,CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China.,Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China
| | - Feng Li
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China.,CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China
| | - Wujing Cao
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China.,CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China
| | - Xinyu Wu
- Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China.,CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong, China
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