First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach

Zhao, Huihua; Horn, Jonathan; Reher, Jacob; Paredes, Víctor; Ames, Aaron D.

doi:10.1007/s10514-016-9565-1

Cited by 44 publications

(22 citation statements)

References 36 publications

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“…The selected joints torque requires effective control in order to synchronize it with the natural joint-angle trajectory [ 62 , 74 – 77 ]. To mimic the natural leg, prosthetic-leg position-error minimization by the proportional derivative computed torque controller (PD-CTC) with gravity compensation has been proposed [ 40 , 78 ].…”

Section: Methodsmentioning

confidence: 99%

“…They were able to acquire fNIRS signals in their chronic stroke patients during preparation for hip movement with 67.77 ± 11.35% accuracy. In Zhao et al [ 31 ], a prosthetic controller was proposed for a bipedal robot. A walking gait pattern was found for the robot mechanism while an online optimized trans-femoral prosthesis control method (i.e.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

fNIRS-based Neurorobotic Interface for gait rehabilitation

Khan

Naseer

Qureshi

et al. 2018

J NeuroEngineering Rehabil

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BackgroundIn this paper, a novel functional near-infrared spectroscopy (fNIRS)-based brain-computer interface (BCI) framework for control of prosthetic legs and rehabilitation of patients suffering from locomotive disorders is presented.MethodsfNIRS signals are used to initiate and stop the gait cycle, while a nonlinear proportional derivative computed torque controller (PD-CTC) with gravity compensation is used to control the torques of hip and knee joints for minimization of position error. In the present study, the brain signals of walking intention and rest tasks were acquired from the left hemisphere’s primary motor cortex for nine subjects. Thereafter, for removal of motion artifacts and physiological noises, the performances of six different filters (i.e. Kalman, Wiener, Gaussian, hemodynamic response filter (hrf), Band-pass, finite impulse response) were evaluated. Then, six different features were extracted from oxygenated hemoglobin signals, and their different combinations were used for classification. Also, the classification performances of five different classifiers (i.e. k-Nearest Neighbour, quadratic discriminant analysis, linear discriminant analysis (LDA), Naïve Bayes, support vector machine (SVM)) were tested.ResultsThe classification accuracies obtained from SVM using the hrf were significantly higher (p < 0.01) than those of the other classifier/ filter combinations. Those accuracies were 77.5, 72.5, 68.3, 74.2, 73.3, 80.8, 65, 76.7, and 86.7% for the nine subjects, respectively.ConclusionThe control commands generated using the classifiers initiated and stopped the gait cycle of the prosthetic leg, the knee and hip torques of which were controlled using the PD-CTC to minimize the position error. The proposed scheme can be effectively used for neurofeedback training and rehabilitation of lower-limb amputees and paralyzed patients.

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

fNIRS-based Neurorobotic Interface for gait rehabilitation

Khan

Naseer

Qureshi

et al. 2018

J NeuroEngineering Rehabil

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“…Their approach is validated through experiments conducted with patients performing basic activities at home. In the contributed work of Zhao et al (2016), a combined control Lyapunov function based on quadratic optimization with an impedance controller is proposed, and applied to a self-contained powered transfemoral prosthesis. The results show improvement in tracking performance and energy efficiency of the prostheses control.…”

Section: Wearable Robots: Prostheses and Orthosesmentioning

confidence: 99%

Special Issue on Assistive and Rehabilitation Robotics

Mohammed

Park²,

Park

et al. 2017

Auton Robot

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“…Notably, recent works in the community have been directed toward understanding and categorizing the humanrobot joint misalignments and the compensation strategies (Näf et al, 2018). Furthermore, non-linear control methodologies are being developed and tested with lower limb exoskeletons (van der Kooij et al, 2008;Rea et al, 2014) and prostheses (Zhao et al, 2017;Khan et al, 2018) to compensate for the effect of such misalignments. Alternatively, cable-driven systems that are lightweight, flexible, and do not interfere with the natural gait have been used to develop wearable systems for gait rehabilitation.…”

Section: Introductionmentioning

confidence: 99%

Evolving Toward Subject-Specific Gait Rehabilitation Through Single-Joint Resistive Force Interventions

2020

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Walking is one of the most relevant tasks that a person performs in their daily routine. Despite its mechanical complexities, any change in the external conditions that applies some external perturbation, or in the human musculoskeletal system that limits an individual's movement, entails a motor response that can either be compensatory or adaptive in nature. Incidentally, with aging or due to the occurrence of a neuro-musculoskeletal disorder, a combination of such changes including reduced sensory perception, muscle weakness, spasticity, etc. has been reported, and this can significantly degrade the human walking performance. Various studies in gait rehabilitation literature have identified a need for the development of better rehabilitation paradigms and have implied that an efficient human robot interaction is critical. Understanding how humans respond to a particular gait alteration can be beneficial in designing an effective rehabilitation paradigm. In this context, the current work investigates human locomotor adaptation to resistive alteration to the hip and ankle strategies of walking. A cable-driven robotic system, which does not add mobility constraints, was used to implement resistive force interventions within the hip and ankle joints separately through two experiments with eight healthy adult participants in each. In both cases, the intervention was applied during the push-off phase of walking, i.e., from pre-swing to terminal swing. The results showed that subjects in both groups adopted a compensatory response to the applied intervention and demonstrated intralimb and interlimb adaptation. Overall, the participants demonstrated a deviant gait implying lower limb musculoskeletal adjustments as if to compensate for a hip or ankle abnormality.

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First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach

Cited by 44 publications

References 36 publications

fNIRS-based Neurorobotic Interface for gait rehabilitation

fNIRS-based Neurorobotic Interface for gait rehabilitation

Special Issue on Assistive and Rehabilitation Robotics

Evolving Toward Subject-Specific Gait Rehabilitation Through Single-Joint Resistive Force Interventions

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