Continuous-Context, User-Independent, Real-Time Intent Recognition for Powered Lower-Limb Prostheses.

Community ambulation is essential for maintaining a healthy lifestyle, but it poses significant challenges for individuals with limb loss due to complex task demands. In wearable robotics, particularly powered prostheses, there is a critical need to accurately estimate environmental context, such as walking speed and slope, to offer intuitive and seamless assistance during varied ambulation tasks. We developed a user-independent and multi-context, intent recognition system that was deployed in real-time on an open-source knee and ankle powered prosthesis (OSL).

User- and Speed-Independent Slope Estimation for Lower-Extremity Wearable Robots.

Wearable robots can help users traverse unstructured slopes by providing mode-specific hip, knee, and ankle joint assistance. However, generalizing the same assistance pattern across different slopes is not optimal. Control strategies that scale assistance based on slope are expected to improve the feel of the device and improve outcome measures such as decreasing metabolic cost.

Biomechanical Evaluation of Stair Ambulation Using Impedance Control on an Active Prosthesis.

Active prostheses can provide net positive work to individuals with amputation, offering more versatility across locomotion tasks than passive prostheses. However, the effect of powered joints on bilateral biomechanics has not been widely explored for ambulation modes different than level ground and treadmill walking. In this study, we present the bilateral biomechanics of stair ascent and descent with a powered knee-ankle prosthesis compared to the biomechanical profiles of able-bodied subjects at different configurations of stair height between 102 mm and 178 mm.

Impedance Control Strategies for Enhancing Sloped and Level Walking Capabilities for Individuals with Transfemoral Amputation Using a Powered Multi-Joint Prosthesis.

Introduction: Powered prostheses are a promising new technology that may help people with lower-limb loss improve their ability to perform locomotion tasks. Developing active prostheses requires robust design methodologies and intelligent controllers to appropriately provide assistance to the user for varied tasks in different environments. The purpose of this study was to validate an impedance control strategy for a powered knee and ankle prosthesis using an embedded sensor suite of encoders and a six-axis load cell that would aid an individual in performing common locomotion tasks, such as level walking and ascending/descending slopes.

Objective Evaluation of Motor Skills for Orthopedic Residents Using a Motion Tracking Drill System: Outcomes of an ABOS Approved Surgical Skills Training Program.

Background: Orthopedics is a motor skills-demanding surgical specialty requiring surgical skills training outside of the operating room. Unfortunately, limited quantitative techniques exist to determine the effectiveness of these surgical skills training programs. Using a variety of drill, surgeon, and specimen mounted sensors, we evaluated orthopedic surgery residents during a surgical skills training course approved by the American Board of Orthopaedic Surgeons (ABOS).