A Robotic Leg Prosthesis: Design, Control, and Implementation

Lawson, Brian E.; Mitchell, Jason E.; Truex, Don; Shultz, Amanda Huff; Ledoux, Elissa D.; Goldfarb, Michael

doi:10.1109/mra.2014.2360303

Cited by 221 publications

(144 citation statements)

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“…A third generation powered knee-ankle prosthesis designed by Vanderbilt University [2, 26] was used in this study. Joint torques, τ i , were modulated according to an impedance-based model:…”

Section: Methodsmentioning

confidence: 99%

Delaying Ambulation Mode Transition Decisions Improves Accuracy of a Flexible Control System for Powered Knee-Ankle Prosthesis

Simon

Ingraham

Spanias

et al. 2017

IEEE Trans. Neural Syst. Rehabil. Eng.

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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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Section: Methodsmentioning

confidence: 99%

Delaying Ambulation Mode Transition Decisions Improves Accuracy of a Flexible Control System for Powered Knee-Ankle Prosthesis

Simon

Ingraham

Spanias

et al. 2017

IEEE Trans. Neural Syst. Rehabil. Eng.

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“…All patients were fit to a third generation powered knee-ankle prosthesis designed by Vanderbilt University [3, 18] (Fig. 1).…”

Section: Methodsmentioning

confidence: 99%

Delaying ambulation mode transitions in a powered knee-ankle prosthesis

Simon

Spanias

Ingraham

et al. 2016

2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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Powered knee and ankle prostheses have the potential to improve the mobility of individuals with a lower limb amputation. As the number of different ambulation modes the prosthesis can be configured for increases, so too does the challenge of how to best transition the prosthesis between these modes. Pattern recognition systems have been suggested as a means to provide seamless and natural transitions, although error rates need to be reduced for these systems to be clinical viable. Delaying mode transitions by a small window may be one way to reduce error rates and improve reliability. The goal of this study was to develop and test a system for powered lower limb prostheses that introduced a delay between mode transitions. Three transfemoral amputees used a knee-ankle prosthesis to stand, walk on level ground, ascend/descend a ramp, and ascend/descend stairs. On Day 1 mode transitions occurred at a gait event (e.g., heel contact), and on Day 2 mode transitions occurred 90 ms following a gait event. A mode-specific pattern recognition system was trained and tested on each day. The 90 ms transition delay did not negatively affect users’ performance ambulating with the prosthesis. Offline classification error results showed that the 90 ms delay reduced overall classification errors from 1.30% [0.29%], mean [SD], for the non-delayed system to 0.42% [0.22%] for the delayed system. These results demonstrate that delaying mode transitions by a small window of time can reduce overall errors, which moves these systems one step closer to clinical viability.

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“…Fig. 6: Prototypes of the prostheses (a) A powered prosthesis with a hybrid controlled piecewise-passive impedance-based designed to provide level walking functionality for amputees [48], (b) The University of Utahs neuroprosthetic prosthetic arm which allows amputees to regain the sense of pressure, vibration, temperature, pain, and movements by creating a connection between their brain and a computer [49].…”

Section: A Collaborative Robotic Armsmentioning

confidence: 99%

Physical Human–Robot Collaboration: Robotic Systems, Learning Methods, Collaborative Strategies, Sensors, and Actuators

Ogenyi

Liu

Yang

et al. 2021

IEEE Trans. Cybern.

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This paper presents a state-of-the-art survey on robotic systems, sensors, actuators and collaborative strategies for Physical Human-Robot Collaboration (pHRC). The paper starts with an overview of some robotic systems with cuttingedge technologies (sensors and actuators) suitable for pHRC operations and the intelligent assist devices employed in pHRC. Sensors being among the essential components to establish communication between a human and a robotic system are surveyed. The sensor supplies the signal needed to drive the robotic actuators. The survey reveals that the design of new generation collaborative robots and other intelligent robotic systems has paved the way for sophisticated learning techniques and control algorithms to be deployed in pHRC. Furthermore, it revealed relevant components needed to be considered for effective pHRC to be accomplished. Finally, a discussion of the major advances made, some research directions, and future challenges are presented.

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A Robotic Leg Prosthesis: Design, Control, and Implementation

Cited by 221 publications

References 0 publications

Delaying Ambulation Mode Transition Decisions Improves Accuracy of a Flexible Control System for Powered Knee-Ankle Prosthesis

Delaying Ambulation Mode Transition Decisions Improves Accuracy of a Flexible Control System for Powered Knee-Ankle Prosthesis

Delaying ambulation mode transitions in a powered knee-ankle prosthesis

Physical Human–Robot Collaboration: Robotic Systems, Learning Methods, Collaborative Strategies, Sensors, and Actuators

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