A new device to measure load and motion in lower limb prosthesis &amp;#x2014; Tested on different prosthetic feet

Schuy, J.; Burkl, A.; Beckerle, Philipp; Rinderknecht, Stephan

doi:10.1109/robio.2014.7090328

Cited by 6 publications

(4 citation statements)

References 9 publications

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“…So far, vertical GRF from the treadmill was used to realize the control approach. For an autonomous system, force sensors in the shank, as exploited in the C-Leg (Carroll and Edelstein, 2006) or in (Schuy et al, 2014), could be used to estimate the GRF. The following experiments should include more subjects and walking speeds to get a better idea if it is required to individualize FMCA-related parameters to each subject and to investigate the performance at different speeds.…”

Section: Discussionmentioning

confidence: 99%

Neuromechanical force-based control of a powered prosthetic foot

et al. 2020

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This article presents a novel neuromechanical force-based control strategy called FMCA (force modulated compliant ankle), to control a powered prosthetic foot. FMCA modulates the torque, based on sensory feedback, similar to neuromuscular control approaches. Instead of using a muscle reflex-based approach, FMCA directly exploits the vertical ground reaction force as sensory feedback to modulate the ankle joint impedance. For evaluation, we first demonstrated how FMCA can predict human-like ankle torque for different walking speeds. Second, we implemented the FMCA in a neuromuscular transtibial amputee walking simulation model to validate if the approach can be used to achieve stable walking and to compare the performance to a neuromuscular reflex-based controller that is already used in a powered ankle. Compared to the neuromuscular model-based approach, the FMCA is a simple solution with a sufficient push-off that can provide stable walking. Third, to assess the ability of the FMCA to generate human-like ankle biomechanics during walking at the preferred speed, we implemented this strategy in a powered prosthetic foot and performed experiments with a non-amputee subject. The results confirm that, for this subject, FMCA can be used to mimic the non-amputee reference ankle torque and the reference ankle angle. The findings of this study support the applicability and advantages of a new bioinspired control approach for assisting amputees. Future experiments should investigate the applicability to other walking speeds and the applicability to the target population.

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Section: Discussionmentioning

confidence: 99%

Neuromechanical force-based control of a powered prosthetic foot

et al. 2020

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“…This means that reaction forces are transmitted through the stiff prosthesis structure into the soft tissue at the stump. Studies indicate, that especially turning manoeuvres lead to high shear stresses at the residual limb, which decreases comfort and may lead to tissue damage [7], [8]. Introducing compliant elements into the prosthesis structure via passive torsional adapters results in a reduction of peak transverse plane moments at the knee, yielding an increase in comfort [7].…”

Section: Introductionmentioning

confidence: 99%

“…Hence, the characteristics do not adapt to gait parameters, e.g., the type of turn or the velocity, which, as indicated by [8], is required for a comfortable and safe device.…”

Section: Introductionmentioning

confidence: 99%

“…To develop this strategy, a study with users wearing a configurable, passive torsional adapter performing several turning tasks at different velocities was performed [9]. The stiffness setting as well as the transverse foot alignment of the adapter is changed between experiments while measuring loads and motion in the prosthesis structure [8]. Data analysis and user feedback indicates a correlation between optimal compliance, foot alignment and gait parameters, e.g., gait velocity or type of motion.…”

Section: Introductionmentioning

confidence: 99%

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A user-specific human-machine interaction strategy for a prosthetic shank adapter

Stuhlenmiller

Schuy

Beckerle

et al. 2017

Current Directions in Biomedical Engineering

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For people with lower limb amputation, a userspecific human-machine interaction with their prostheses is required to ensure safe and comfortable assistance. Especially during dynamic turning manoeuvres, users experience high loads at the stump, which decreases comfort and may lead to long-term tissue damage. Preliminary experiments with users wearing a configurable, passive torsional adaptor indicate increased comfort and safety achieved by adaptation of torsional stiffness and foot alignment. Moreover, the results show that the individual preference regarding both parameters depend on gait situation and individual preference. Hence, measured loads in the structure of the prosthesis and subjective feedback regarding comfort and safety during different turning motions are considered in a user-specific human-machine interaction strategy for a prosthetic shank adaptor. Therefore, the interrelations of gait parameters with optimal configuration are stored in an individual preference-setting matrix. Stiffness and foot alignment are actively adjusted to the optimal parameters by a parallel elastic actuator. Two subjects reported that they experienced appropriate variation of stiffness and foot alignment, a noticeable reduction of load at the stump and that they could turn with less effort.

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