Wearable sensing for understanding and influencing human movement in ecological contexts

Adamczyk, Peter G.; Harper, Sara E.; Reiter, Alexander A.; Roembke, Rebecca A.; Wang, Yisen; Nichols, Kieran M.; Thelen, Darryl G.

doi:10.1016/j.cobme.2023.100492

Cited by 4 publications

(2 citation statements)

References 51 publications

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“…The most obvious is adaptation to terrain: the TADA module could be integrated with sensing such as an ankle load cell [39] to detect and match the slope of the ground. Once the slope is detected, local movements like turns or repeated paths could be tracked in real-time with an embedded inertial sensor [27,28,40,41] and used to preemptively adapt the TADA to the known ground slope under the upcoming footfall. Another application is to augment balance during locomotion, such as enhancing lateral balance [1] and steering [42].…”

Section: Discussionmentioning

confidence: 99%

Non-Backdrivable Wedge Cam Mechanism for a Semi-Active Two-Axis Prosthetic Ankle

Greene,

Fischman Ekman Simões,

Lewis

et al. 2024

Prosthesis

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Frontal plane ankle motion is important for balance in walking but is seldom controlled in robotic prostheses. This article describes the design, control and performance of a semi-active two-degree-of-freedom robotic prosthetic ankle. The mechanism uses a non-backdrivable wedge cam system based on rotating inclined planes, allowing actuation only during swing phases for low power, light weight and compactness. We present details of the mechanism and its kinematic and mechatronic control, and a benchtop investigation of the system’s speed and accuracy in ankle angle control. The two-axis ankle achieves angular reorientation movements spanning ±10 deg in any direction in less than 0.9 s. It achieves a plantarflexion/dorsiflexion error of 0.35 ± 0.27 deg and an inversion/eversion error of 0.29 ± 0.25 deg. Backdriven motion during walking tests is negligible. Strengths of the design include self-locking behavior for low power and simple kinematic control. Two-axis ankle angle control could enable applications such as balance augmentation, turning assistance, and wearable perturbation training.

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Section: Discussionmentioning

confidence: 99%

Non-Backdrivable Wedge Cam Mechanism for a Semi-Active Two-Axis Prosthetic Ankle

Greene,

Fischman Ekman Simões,

Lewis

et al. 2024

Prosthesis

Self Cite

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“…The IMU sensor of the shank was used to detect the gait cycles. 9 The rotary encoder embedded in the brace was used to determine the knee angle. The sensorized brace was not removed between the indoor and outdoor gait measurements.…”

Section: E T T E R T O T H E E D I T O Rmentioning

confidence: 99%

Comparison of the kinematic analysis of indoor and outdoor gait in people with haemophilia and total knee replacement

Cruz‐Montecinos,

Devia,

Barahona

et al. 2024

Haemophilia

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Surface‐Level Muscle Deformation as a Correlate for Joint Torque

Alvarez,

de Marcillac,

Jin

et al. 2024

Adv Materials Technologies

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Wearable technology excels in estimating kinematic and physiological data, but estimating biological torques remains an open challenge. Deformation of the skin above contracting muscles—surface‐level muscle deformation—has emerged as a promising signal for joint torque estimation. However, a lack of ground‐truth measures of surface‐level muscle deformation has complicated the evaluation of wearable sensors designed to measure surface‐level muscle deformation. A non‐contact methodology is proposed for ground‐truth measurement of surface‐level muscle deformation using a 2D laser profilometer. It shows how three metrics of surface‐level muscle deformation—peak radial displacement: r = 0.94 ± 0.05, surface curvature: r = 0.78 ± 0.10, surface strain: r = 0.83 ± 0.12—correlate strongly to changes in volitional elbow torque, further exploring the impact of measurement location or joint angle on these relationships. A nonlinear, lead‐lag relationship between surface‐level muscle deformation and torque is also found. The findings suggest that surface‐level muscle deformation is a promising signal for non‐invasive, real‐time estimates of torque. By standardizing measurement, the methodology can help inform the design of future wearable sensors.

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Wearable sensing for understanding and influencing human movement in ecological contexts

Cited by 4 publications

References 51 publications

Non-Backdrivable Wedge Cam Mechanism for a Semi-Active Two-Axis Prosthetic Ankle

Non-Backdrivable Wedge Cam Mechanism for a Semi-Active Two-Axis Prosthetic Ankle

Comparison of the kinematic analysis of indoor and outdoor gait in people with haemophilia and total knee replacement

Surface‐Level Muscle Deformation as a Correlate for Joint Torque

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