Powered lower limb prostheses can assist users in a variety of ambulation modes by providing knee and/or ankle joint power. This study's goal was to develop a flexible control system to allow users to perform a variety of tasks in a natural, accurate, and reliable way. Six transfemoral amputees used a powered knee-ankle prosthesis to ascend/descend a ramp, climb a 3- and 4-step staircase, perform walking and standing transitions to and from the staircase, and ambulate at various speeds. A mode-specific classification architecture was developed to allow seamless transitions at four discrete gait events. Prosthesis mode transitions (i.e., the prosthesis' mechanical response) were delayed by 90 ms. Overall, users were not affected by this small delay. Offline classification results demonstrate significantly reduced error rates with the delayed system compared to the non-delayed system (p < 0.001). The average error rate for all heel contact decisions was 1.65% [0.99%] for the non-delayed system and 0.43% [0.23%] for the delayed system. The average error rate for all toe off decisions was 0.47% [0.16%] for the non-delayed system and 0.13% [0.05%] for the delayed system. The results are encouraging and provide another step towards a clinically viable intent recognition system for a powered knee-ankle prosthesis.
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http://dx.doi.org/10.1109/TNSRE.2016.2613020 | DOI Listing |
IEEE Trans Neural Syst Rehabil Eng
November 2024
Although powered prosthetic legs have enabled more biomimetic joint kinematics during steady-state activities like walking and stair climbing, transitions between these activities are usually handled by discretely switching controllers without considering biomimicry or the distinct role of the leading leg. This study introduces two data-driven, phase-based kinematic control approaches for seamless inter-leg transitions (i.e.
View Article and Find Full Text PDFBackground: Peripheral neuropathy is estimated to be prevalent in up to 12% of the population, increasing to 30% in older demographics. This makes peripheral neuropathy one of the most common neurological diseases in the United States.
Objectives: This retrospective study aims to report on the efficacy and safety of peripheral nerve stimulation (PNS) on the treatment of peripheral neuropathy in a commercial setting.
IEEE Int Conf Robot Autom
May 2024
Department of Robotics, University of Michigan, Ann Arbor, MI 48109.
Research in powered prosthesis control has explored the use of impedance-based control algorithms due to their biomimetic capabilities and intuitive structure. Modern impedance controllers feature parameters that smoothly vary over gait phase and task according to a data-driven model. However, these recent efforts only use continuous impedance control during stance and instead utilize discrete transition logic to switch to kinematic control during swing, necessitating two separate models for the different parts of the stride.
View Article and Find Full Text PDFDiagnostics (Basel)
May 2024
Department of Molecular Medicine, Scripps Research, La Jolla, CA 92037, USA.
Hybrid lateral closed-wedge high tibial osteotomy (HBHTO) carries certain advantages over medial open-wedge high tibial osteotomy (OWHTO). We investigated the potential difference in the required correction angle between HBHTO and OWHTO to achieve an equal amount of whole lower-extremity alignment correction, retrospectively analyzing the preoperative plain radiographic images of 100 patients. The medial proximal tibial angle (MPTA), joint line convergence angle (JLCA), mechanical lateral distal femoral angle (mLDFA), hip-knee-ankle axis (HKA), length of the tibia, width of the tibial plateau, length of the lower limb (leg length), and location of the center of deformity (CD) were measured.
View Article and Find Full Text PDFBMJ Mil Health
June 2024
Faculty of Health Sciences, University of Ottawa, Ottawa, Ontario, Canada
Objectives: A history of childbirth is associated with musculoskeletal injury (MSKi) in female members of the Canadian Armed Forces (CAF). While previous injury and pregnancy impact knee kinematics, it is unclear if a history of childbirth is associated with medial knee displacement (MKD) in an overhead squat movement screen. The aim of this study is to examine the relationship between MKD and (1) MSKi and (2) parity status in female CAF members.
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