“…Male respondents made up 78% of the studies' sample population, and they ranged in age from 21 [32] to 62 [33] years on average. Two research [34,35] used virtual environments, and the sample sizes ranged from n = 1 to n = 20. In 22% of the studies, comparisons with healthy subjects were made.…”
Section: Attributes Of Selected Studiesmentioning
confidence: 99%
“…Various mechanical and electromechanical prostheses have been developed so far, which work to fulfill requirements regarding biomechanical parameters. However, few are commercially available, mostly are under research in laboratories [32][33][34]38,39]. A locking mechanism restricted amputee's fall during running by preventing undesired knee flexion [32].…”
The aim of this review article is to appraise the design and functionality of above-knee prosthetic legs. So far, various transfemoral prosthetic legs are found to offer a stable gait to amputees but are limited to laboratories. The commercially available prosthetic legs are not reliable and comfortable enough to satisfy amputees. There is a dire need for creating a powered prosthetic knee joint that could address amputees’ requirements. To pinpoint the gap in transfemoral prosthetic legs, prosthetic knee unit model designs, control frameworks, kinematics, and gait evaluations are concentrated. Ambulation exercises, ground-level walking, running, and slope walking are considered to help identify research gaps and areas where existing prostheses can be ameliorated. The results show that above-knee amputees can more effectively manage their issues with the aid of an active prosthesis, capable of reliable gait. To accomplish the necessary control, closed loop controllers and volitional control are integral parts. Future studies should consider designing a transfemoral electromechanical prosthesis based on electromyographic (EMG) signals to better predict the amputee’s intent and control in accordance with that intent.
“…Male respondents made up 78% of the studies' sample population, and they ranged in age from 21 [32] to 62 [33] years on average. Two research [34,35] used virtual environments, and the sample sizes ranged from n = 1 to n = 20. In 22% of the studies, comparisons with healthy subjects were made.…”
Section: Attributes Of Selected Studiesmentioning
confidence: 99%
“…Various mechanical and electromechanical prostheses have been developed so far, which work to fulfill requirements regarding biomechanical parameters. However, few are commercially available, mostly are under research in laboratories [32][33][34]38,39]. A locking mechanism restricted amputee's fall during running by preventing undesired knee flexion [32].…”
The aim of this review article is to appraise the design and functionality of above-knee prosthetic legs. So far, various transfemoral prosthetic legs are found to offer a stable gait to amputees but are limited to laboratories. The commercially available prosthetic legs are not reliable and comfortable enough to satisfy amputees. There is a dire need for creating a powered prosthetic knee joint that could address amputees’ requirements. To pinpoint the gap in transfemoral prosthetic legs, prosthetic knee unit model designs, control frameworks, kinematics, and gait evaluations are concentrated. Ambulation exercises, ground-level walking, running, and slope walking are considered to help identify research gaps and areas where existing prostheses can be ameliorated. The results show that above-knee amputees can more effectively manage their issues with the aid of an active prosthesis, capable of reliable gait. To accomplish the necessary control, closed loop controllers and volitional control are integral parts. Future studies should consider designing a transfemoral electromechanical prosthesis based on electromyographic (EMG) signals to better predict the amputee’s intent and control in accordance with that intent.
“…This variable damping can be realized by using mechanical control valves (Auberger et al, 2016) or a magnetorheological fluid (Bisbee III et al, 2016). Since the exact prosthesis hardware is not known nor available for verification, a second case study is introduced, which regards an internally developed powered knee prosthesis (Guercini et al, 2022), for which an initial version of the controller has been developed with the presented simulation framework. For purpose of demonstration, a passive spring-damper ankle prosthesis is implemented in both case studies.…”
Section: Case Studiesmentioning
confidence: 99%
“…The prosthesis controller and each of the modules of the human-prosthesis system (as shown at the right in Figure 1) are introduced below. Figure 1. Left: highest level abstraction of the simulation framework, consisting of the Prosthesis Controller and Human-Prosthesis System, running in discrete time (colored) and continuous time (black), respectively. The modelled Human-Prosthesis System can be replaced for a real human and prosthesis to perform hardware-in-the-loop experiments, for example, by utilizing a CAN interface or a real-time target machine such as Speedgoat (Speedgoat, 2020; Guercini et al, 2022). Right: main modules of the modelled Human-Prosthesis System.…”
Section: Framework Overviewmentioning
confidence: 99%
“…Toward this purpose, an FSM-based controller inspired from that presented in Section 5.2 has been created, as shown in Figure 10. This controller has been used as the basis for the control system that has been presented for experimental validation by Guercini et al (2022), as realized with a Speedgoat interface in combination with a subject wearing an able-bodied adapter. Figure 10. Overview of the FSM-impedance-based prosthesis controller module and electrically actuated research prosthesis device module, as designed and tuned to enable walking, starting and stopping. The FSM states are the same as those in Figure 6.…”
This manuscript presents a simplified dynamic human-prosthesis model and simulation framework for the purpose of designing and developing lower limb prosthesis hardware and controllers. The objective was to provide an offline design tool to verify the closed-loop behavior of the prosthesis with the human, in order to avoid relying solely on limiting kinematic and kinetic reference trajectories of (able-bodied) subjects and associated static or inverse dynamic analyses, while not having to resort to complete neuromusculoskeletal models of the human that require extensive optimizations to run. The presented approach employs a reduced-order model that includes only the prosthetic limb and trunk in a multi-body dynamic model. External forces are applied to the trunk during stance phase of the intact leg to represent its presence. Walking is realized by employing the well-known spring-loaded inverted pendulum model, which is shown to generate realistic dynamics on the prosthesis while maintaining a stable and modifiable gait. This simple approach is inspired from the rationale that the human is adaptive, and from the desire to facilitate modifications or inclusions of additional user actions. The presented framework is validated with two use cases, featuring a commercial and research knee prosthesis in combination with a passive ankle prosthesis, performing a continuous sequence of standing still, walking at different velocities and stopping.
Across different fields within robotics, there is a great need for lightweight, efficient actuators with human-like performance. Linkage-based passive variable transmissions and torque-sensitive transmissions have emerged as promising solutions to meet this need by significantly increasing actuator efficiency and power density, but their modeling and analysis remain an open research topic. In this paper, we introduce the sensitivity between input displacement and output torque as a key metric to analyze the performance of these complex mechanisms in dynamic tasks. We present the analytical model of sensitivity in the context of two different torque-sensitive transmission designs, and used this sensitivity metric to analyze the differences in their performance. Experiments with these designs implemented within a powered knee prosthesis were conducted, and results validated the sensitivity model as well as its role in predicting actuators’ dynamic performance. Together with other design methods, sensitivity analysis is a valuable tool for designers to systematically analyze and create transmission systems capable of human-like physical behavior.
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