Segmented Foot with Compliant Actuators and Its Applications to Lower-Limb Prostheses and Exoskeletons

Wang, Qining; Zhu, Jinying; Huang, Yan; Yuan, Kebin; Wang, Long

doi:10.5772/51495

Cited by 3 publications

(1 citation statement)

References 42 publications

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“…Different from passive prostheses, powered prostheses can mimic the dynamic as well as kinematic behaviors of human limbs [1]. With powered prostheses, the amputee's walking metabolic economy are improved and their gaits become more natural [2].…”

Section: Introductionmentioning

confidence: 99%

A fuzzy logic based terrain identification approach to prosthesis control using multi-sensor fusion

Yuan

Sun

Wang

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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This paper presents a fuzzy logic based terrain identification method using multi-sensor fusion for powered prosthesis control. Five locomotion features including rising time of ground reaction force, sequence of foot strike on ground, foot inclination angle during stance, shank inclination angle at toe-off and maximal shank inclination angle during swing are selected to identify different terrains. These features are measured by fusion of two gyroscopes, two accelerometers, two force sensitive resistors and a timer. Based on the features, a fuzzy logic identification method is developed to identify level-ground, stair ascent, stair descent, upslope and downslope online in real time. Average identification accuracy higher than 97.5% is obtained in experiments of five able-bodied subjects and a transtibial amputee. Continuous identification results show the prospect of using the proposed method to realize real-time terrain identification of powered prostheses.

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Section: Introductionmentioning

confidence: 99%

A fuzzy logic based terrain identification approach to prosthesis control using multi-sensor fusion

Yuan

Sun

Wang

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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Effects of toe stiffness on ankle kinetics in a robotic transtibial prosthesis during level-ground walking

Zhu

Wang

2014

Mechatronics

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Non-contact capacitance sensing for continuous locomotion mode recognition: Design specifications and experiments with an amputee

Zheng

Wang

Luo

et al. 2013

2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR)

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Locomotion mode recognition plays an important role in the control of powered lower-limb prostheses. In this paper, we present a non-contact capacitance sensing system (C-Sens) to measure the interfacial signals between the residual limb and the prosthetic socket. The system includes sensing front-ends, a sensing circuit, a control circuit and foot pressure insoles. In the proposed system, the electrodes are fixed on the inner surface of the socket, which couple with the human body forming capacitors. The foot pressure insoles are built for detecting gait phases. The data sequence is controlled by the control circuit. To evaluate the capacitance sensing system, experiments with a transtibial amputee are carried out and seven kinds of locomotion modes are recorded. With the continuous phase dependent classification method and the quadratic discriminant analysis (QDA) classifier, the average recognition accuracies are 93.8% and 95.0% for the stance phase and the swing phase respectively. The results show the potential of the proposed system for the control of powered lower-limb prostheses.

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Segmented Foot with Compliant Actuators and Its Applications to Lower-Limb Prostheses and Exoskeletons

Cited by 3 publications

References 42 publications

A fuzzy logic based terrain identification approach to prosthesis control using multi-sensor fusion

A fuzzy logic based terrain identification approach to prosthesis control using multi-sensor fusion

Effects of toe stiffness on ankle kinetics in a robotic transtibial prosthesis during level-ground walking

Non-contact capacitance sensing for continuous locomotion mode recognition: Design specifications and experiments with an amputee

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