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1 | Publication Type | Authors | Author Full Names | Article Title | Source Title | Author Keywords | Abstract | Addresses | Affiliations | Reprint Addresses | Funding Name | Cited Reference Count | Publication Date | Publication Year | DOI | DOI Link |
2 | C | Bons, Z; Thomas, GC; Mooney, LM; Rouse, EJ | Bons, Zachary; Thomas, Gray C.; Mooney, Luke M.; Rouse, Elliott J. | A Compact, Two-Part Torsion Spring Architecture | 2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2023) | Springs are essential mechanical elements that are used across a wide variety of industries and mechanisms. Common across many spring types and applications is the importance of compactness, low mass and customizability. In this paper, we present a novel rotary spring design that is lightweight, compact and customizable. In addition, we empirically validate the design by experimentally quantifying the performance of two test springs on a custom dynamometry testbed. Our two-part spring geometry is comprised of a central rotating gear-like cam shaft, and a disk that includes a circular array of radially-spaced tapered cantilevered beams. The two springs that we designed and tested matched desired performance specifications within 3-6%, confirming the efficacy of this unique design approach. | [Bons, Zachary; Thomas, Gray C.; Rouse, Elliott J.] Univ Michigan, Neurob Lab, Ann Arbor, MI 48109 USA; [Bons, Zachary; Rouse, Elliott J.] Univ Michigan, Dept Mech Engn, Ann Arbor, MI USA; [Thomas, Gray C.; Rouse, Elliott J.] Univ Michigan, Dept Robot, Ann Arbor, MI USA; [Mooney, Luke M.] Dephy Inc, Maynard, MA USA | University of Michigan System; University of Michigan; University of Michigan System; University of Michigan; University of Michigan System; University of Michigan | Bons, Z (corresponding author), Univ Michigan, Neurob Lab, Ann Arbor, MI 48109 USA. | 3 | 2023 | 10.1109/ICRA48891.2023.10161174 | http://dx.doi.org/10.1109/ICRA48891.2023.10161174 | |||
3 | J | Best, TK; Thomas, GC; Ayyappan, SR; Gregg, RD; Rouse, EJ | Best, T. Kevin; Thomas, Gray C.; Ayyappan, Senthur R.; Gregg, Robert D.; Rouse, Elliott J. | A Compensated Open-Loop Impedance Controller Evaluated on the Second-Generation Open-Source Leg Prosthesis | IEEE-ASME TRANSACTIONS ON MECHATRONICS | Impedance; Legged locomotion; Actuators; Robots; Torque; Belts; Ankle; Solid modeling; Motors; Hardware; Impedance control; prosthetic limbs; robot control; wearable robots | Accurate impedance control is key for biomimetic mechanical behavior in lower-limb robotic prostheses. However, due to compliance, friction, and inertia in the drivetrain, the commonly used open-loop impedance control strategy can often produce inaccurate results without appropriate compensation. This article presents a controller that accounts for these dynamics to improve the impedance rendering accuracy of a robotic prosthesis research platform, the Open-Source Leg (OSL v2). We first develop a dynamic model of the OSL v2's drivetrain and show that it accurately predicts the system's joint torque with 97% mean explained variance across a diverse array of experiments. We then present a controller that compensates for the OSL v2's inherent dynamics using a combination of feedback linearization and actuator-state feedback control. We experimentally validate this controller on the OSL v2 with a rotary dynamometer and in treadmill walking experiments. We show that it can render various constant impedance behaviors with higher stiffness and damping accuracy than a baseline controller. We also show our controller's ability to replicate the variable impedance trajectories of the human ankle joint, suggesting that this control approach could enable robotic prostheses that are biomimetic in their mechanical impedance in addition to their kinematics and kinetics. | [Best, T. Kevin; Ayyappan, Senthur R.; Gregg, Robert D.; Rouse, Elliott J.] Univ Michigan, Dept Robot, Ann Arbor, MI 48109 USA; [Thomas, Gray C.] Texas A&M Univ, J Mike Walker 66 Dept Mech Engn, College Stn, TX 77840 USA; [Rouse, Elliott J.] Univ Michigan, Dept Mech Engn, Ann Arbor, MI 48109 USA | University of Michigan System; University of Michigan; Texas A&M University System; Texas A&M University College Station; University of Michigan System; University of Michigan | Best, TK (corresponding author), Univ Michigan, Dept Robot, Ann Arbor, MI 48109 USA. | National Science Foundation (NSF) | 1 | 2024 DEC 20 | 2024 | 10.1109/TMECH.2024.3508469 | http://dx.doi.org/10.1109/TMECH.2024.3508469 |
4 | J | Harris, IR; Rouse, EJ; Gregg, RD; Thomas, GC | Harris, Isaac Richard; Rouse, Elliott Jay; Gregg, Robert Demoss; Thomas, Gray Cortright | A Control Framework for Accurate Mechanical Impedance Rendering With Series-Elastic Joints in Prosthetic Actuation Applications | IEEE ROBOTICS AND AUTOMATION LETTERS | Impedance; Motors; Prosthetics; Legged locomotion; Actuators; Torque; Rendering (computer graphics); Compliance and impedance control; compliant joints and mechanisms; prosthetics | In addition to lifting up the body during gait, human legs provide stabilizing torques that can be modeled as a spring-damper mechanical impedance. While powered prosthetic leg actuators can also imitate spring-damper behaviors, the rendered impedance can be quite different from the desired impedance, stemming from unmodeled transmission characteristics (e.g., sliding friction, bearing damping, gear inefficiency, etc.). Moreover, for powered prostheses to mimic human joint impedance, they will need actuators that accurately render a wide range of mechanical impedances in a variety of ground contact conditions, including nearly free-swinging behavior in swing phase and stiff spring-like behavior in stance phase. For series-elastic prosthetic leg actuators, as in the Open-Source Leg (OSL), these sudden output inertia changes present a challenge for traditional cascaded impedance control. In this paper we propose a solution based on disturbance observers (DOBs) and full-state feedback (FSF) impedance control. The DOB serves to mask transmission imperfections, while the FSF controller (via pole-zero placement) specifies the actuator impedance that couples to the uncertain joint inertia. We validate our control framework on an OSL-like two-actuator dynamometry testbed. | [Harris, Isaac Richard; Rouse, Elliott Jay] Univ Michigan, Dept Mech Engn, Ann Arbor, MI 48109 USA; [Rouse, Elliott Jay] Univ Michigan, Dept Robot, Ann Arbor, MI 48109 USA; [Gregg, Robert Demoss; Thomas, Gray Cortright] Univ Michigan, Dept Robot, Ann Arbor, MI 48109 USA; [Thomas, Gray Cortright] Texas A&M Univ, Dept Mech Engn, College Stn 77840, TX USA | University of Michigan System; University of Michigan; University of Michigan System; University of Michigan; University of Michigan System; University of Michigan; Texas A&M University System; Texas A&M University College Station | Thomas, GC (corresponding author), Univ Michigan, Dept Robot, Ann Arbor, MI 48109 USA. | National Science Foundation (NSF) | 0 | AUG | 2024 | 10.1109/LRA.2024.3416769 | http://dx.doi.org/10.1109/LRA.2024.3416769 |
5 | J | Bolívar-Nieto, EA; Summers, T; Gregg, RD; Rezazadeh, S | Bolivar-Nieto, Edgar A.; Summers, Tyler; Gregg, Robert D.; Rezazadeh, Siavash | A convex optimization framework for robust-feasible series elastic actuators | MECHATRONICS | Series elastic actuator; Convex optimization; Robust optimization; Quasi-direct drives | Kinematic and kinetic requirements for robotic actuators are subject to uncertainty in the motion of the load. Safety factors account for uncertainty in the design stage, but defining factors that translate to reliable systems without over-designing is a challenge. Bulky or heavy actuators resulting from overdesign are undesirable in wearable or mobile robots, which are prone to uncertainty in the load due to human-robot or robot- environment interaction. In this paper, we use robust optimization to account for uncertainty in the design of series elastic actuators. We formulate a robust-feasible convex optimization program to select the optimal compliance-elongation profile of the series spring that minimizes one or multiple of the following objectives: spring elongation, motor energy consumption, motor torque, or motor velocity. To preserve convexity when minimizing energy consumption, we lump the energy losses in the transmission as viscous friction losses, which is a viable approximation for series elastic actuators powered by direct or quasi-direct drives. Our formulation guarantees that the motor torque, winding temperature, and speed are feasible despite uncertainty in the load kinematics, kinetics, or manufacturing of the spring. The globally optimal spring could be linear or nonlinear. As simulation case studies, we design the optimal compliance-elongation profiles for multiple series springs for a robotic prosthetic ankle. The simulation case studies illustrate examples of our methodology, evaluate the performance of robust feasible designs against optimal solutions that neglect uncertainty, and provide insight into the selection of different objective functions. With this framework the designer specifies uncertainty directly in the optimization and over the specific kinematics, kinetics, or manufacturing parameters, aiming for reliable robots that reduce overdesign. | [Bolivar-Nieto, Edgar A.; Gregg, Robert D.] Univ Michigan, Robot Inst, Ann Arbor, MI 48109 USA; [Bolivar-Nieto, Edgar A.; Gregg, Robert D.] Univ Michigan, Dept Elect Engn & Comp Sci, Ann Arbor, MI 48109 USA; [Summers, Tyler] Univ Texas Dallas, Dept Mech Engn, Richardson, TX USA; [Rezazadeh, Siavash] Univ Denver, Dept Mech & Mat Engn, Denver, CO USA | University of Michigan System; University of Michigan; University of Michigan System; University of Michigan; University of Texas System; University of Texas Dallas; University of Denver | Bolívar-Nieto, EA (corresponding author), Univ Michigan, Robot Inst, Ann Arbor, MI 48109 USA.;Bolívar-Nieto, EA (corresponding author), Univ Michigan, Dept Elect Engn & Comp Sci, Ann Arbor, MI 48109 USA. | National Science Foundation (NSF) | 7 | NOV | 2021 | 10.1016/j.mechatronics.2021.102635 | http://dx.doi.org/10.1016/j.mechatronics.2021.102635 |
6 | J | Shetty, VS; Lee, UH; Ingraham, KA; Rouse, EJ | Shetty, Varun S.; Lee, Ung Hee; Ingraham, Kimberly A.; Rouse, Elliott J. | A Data Driven Approach for Predicting Preferred Ankle Stiffness of a Quasi-Passive Prosthesis | IEEE ROBOTICS AND AUTOMATION LETTERS | Control; deep learning method; prosthetics and exoskeletons; user preference; wearable robotics | Emerging variable-stiffness ankle prostheses can modulate their stiffness to meet differing biomechanical demands. To this end, knowledge of the optimal ankle stiffness is required for each user and activity. One approach is to match the stiffness of prosthesis to the user's preference, but this requires a tuning process to determine each user's preferences. In this work, we seek to estimate user-preferred ankle stiffness using biomechanical data collected from seven subjects during walking at stiffness settings around their preferred stiffness; our hope is an automated method may reduce the time and experimental burden of determining user preferences. We investigated different machine learning algorithms, sensor subsets, and the impact of user-specific training data on estimation accuracy. We found that a long short term memory (LSTM) algorithm trained on user-specific data from only the affected side, were able to predict user preferred ankle stiffness with an RMSE of 5.2% +/- 0.3%. The prediction error was less than prosthesis users' ability to reliably sense stiffness changes (7.7%), which highlights the significance of the performance of our proposed method. This study provides a foundation for an automated approach for predicting user-preferred prosthesis mechanics that would ease the burden of tuning these systems in a clinical setting. | [Shetty, Varun S.; Lee, Ung Hee; Ingraham, Kimberly A.; Rouse, Elliott J.] Univ Michigan, Dept Mech Engn, Ann Arbor, MI 48109 USA; [Shetty, Varun S.; Lee, Ung Hee; Ingraham, Kimberly A.; Rouse, Elliott J.] Univ Michigan, Robot Inst, Ann Arbor, MI 48109 USA; [Shetty, Varun S.; Lee, Ung Hee; Ingraham, Kimberly A.; Rouse, Elliott J.] Univ Michigan, Neurobion Lab, Ann Arbor, MI 48109 USA | University of Michigan System; University of Michigan; University of Michigan System; University of Michigan; University of Michigan System; University of Michigan | Rouse, EJ (corresponding author), Univ Michigan, Dept Mech Engn, Ann Arbor, MI 48109 USA.;Rouse, EJ (corresponding author), Univ Michigan, Robot Inst, Ann Arbor, MI 48109 USA. | U.S. Army CDMRP PRORP | 4 | APR | 2022 | 10.1109/LRA.2022.3144790 | http://dx.doi.org/10.1109/LRA.2022.3144790 |
7 | J | Nuesslein, CPO; Young, AJ | Nuesslein, Christoph P. O.; Young, Aaron J. | A Deep Learning Framework for End-to-End Control of Powered Prostheses | IEEE ROBOTICS AND AUTOMATION LETTERS | Mathematical models; Torque; Robot sensing systems; Legged locomotion; Prosthetics; Deep learning; Computer architecture; Prosthesis; end-to-end control; torque estimation; deep learning | Deep learning offers a potentially powerful alternative to hand-tuned control of active lower-limb prostheses, being capable of generating continuous joint-level assistance end-to-end. This eliminates the need for conventional task classification, state machines and mid-level control equations by collapsing the entire control problem into a deep neural network. In this study, sensor data and conventional commanded torque from an open-source powered knee-ankle prosthesis (OSL) were collected across five locomotion modes: level ground, ramp incline/decline and stair ascent/descent. Reference commanded torques were generated using an expert-tuned finite state machine-based impedance controller for each mode and transfemoral amputee participant (N = 12). Stance phases of the output were then estimated using a temporal convolutional network (TCN), which produced mode- and user-independent knee and ankle torques with RMSE of 0.154 +/- 0.06 and 0.106 +/- 0.06 Nm/kg, respectively. Training the model on mode-specific data only produced significant reductions in stair descent, lowering knee and ankle RMSE by 0.06 +/- 0.028 and 0.033 +/- 0.008 Nm/kg respectively (p < 0.05). Additionally, the TCN adapted to walking speed and slope shifts in reference commanded torque. These results demonstrate that this deep learning model not only removes the need for heuristic state machines and mode classification but can also reduce or remove the need for prosthesis assistance tuning entirely. | [Nuesslein, Christoph P. O.; Young, Aaron J.] Georgia Inst Technol, Inst Robot & Intelligent Machines, Atlanta, GA 30332 USA; [Nuesslein, Christoph P. O.; Young, Aaron J.] Georgia Inst Technol, Dept Mech Engn, Atlanta, GA 30332 USA | University System of Georgia; Georgia Institute of Technology; University System of Georgia; Georgia Institute of Technology | Nuesslein, CPO (corresponding author), Georgia Inst Technol, Inst Robot & Intelligent Machines, Atlanta, GA 30332 USA.;Nuesslein, CPO (corresponding author), Georgia Inst Technol, Dept Mech Engn, Atlanta, GA 30332 USA. | NDSEG Fellowship | 2 | MAY | 2024 | 10.1109/LRA.2024.3374189 | http://dx.doi.org/10.1109/LRA.2024.3374189 |
8 | J | Kim, M; Hargrove, LJ | Kim, Minjae; Hargrove, Levi J. | A gait phase prediction model trained on benchmark datasets for evaluating a controller for prosthetic legs | FRONTIERS IN NEUROROBOTICS | prosthetics; deep learning; continuous gait recognition; benchmark data; gait phase | Powered lower-limb assistive devices, such as prostheses and exoskeletons, are a promising option for helping mobility-impaired individuals regain functional gait. Gait phase prediction plays an important role in controlling these devices and evaluating whether the device generates a gait similar to that of individuals with intact limbs. This study proposes a gait phase prediction method based on a deep neural network (DNN). The long short-term memory (LSTM)-based model predicts a continuous gait phase from the 250 ms history of the vertical load, thigh angle, knee angle, and ankle angle, commonly available on powered lower-limb assistive devices. One unified model was trained using publicly available benchmark datasets containing intact limb gaits for level-ground walking (LGW) and ascending stairs (SA). A phase prediction error of 1.28% for all benchmark datasets was obtained. The model was subsequently applied to a state machine-controlled powered prosthetic leg dataset collected from four individuals with unilateral transfemoral amputation. The gait phase prediction results (a phase prediction error of 5.70%) indicate that the model trained on benchmark data can be used for a system not included in the training dataset with no post-processing, such as model adaptation. Furthermore, it provided information regarding evaluation of the controller: whether the prosthetic leg generated normal gait. In conclusion, the proposed gait phase prediction model will facilitate efficient gait prediction and evaluation of controllers for powered lower-limb assistive devices. | [Kim, Minjae; Hargrove, Levi J.] Northwestern Univ, Dept Phys Med & Rehabil, Chicago, IL 60611 USA; [Kim, Minjae; Hargrove, Levi J.] Shirley Ryan AbilityLab, Regenstein Ctr Bion Med, Chicago, IL 60611 USA | Northwestern University; Shirley Ryan AbilityLab | Hargrove, LJ (corresponding author), Northwestern Univ, Dept Phys Med & Rehabil, Chicago, IL 60611 USA.;Hargrove, LJ (corresponding author), Shirley Ryan AbilityLab, Regenstein Ctr Bion Med, Chicago, IL 60611 USA. | National Institutes of Health (NIH) | 6 | JAN 5 | 2023 | 10.3389/fnbot.2022.1064313 | http://dx.doi.org/10.3389/fnbot.2022.1064313 |
9 | J | Chen, W; Ma, YX; Ren, L; Liang, W; Wang, X; Zhang, Y; Wei, GW; Ren, LQ | Chen, Wei; Ma, Yongxin; Ren, Lei; Liang, Wei; Wang, Xu; Zhang, Yao; Wei, Guowu; Ren, Luquan | A Lightweight Powered Knee Prosthesis Replicating Early-Stance Knee Flexion During Level Walking | IEEE ROBOTICS AND AUTOMATION LETTERS | Prosthetics and exoskeletons; actuation and joint mechanisms; Prosthetics and exoskeletons; actuation and joint mechanisms | Powered knee prostheses promise to improve the mobility of transfemoral amputees by imitating the biomechanics of the missing knee joint. Unfortunately, the heavy weight and short battery life severely limit the application of powered prostheses. Here, we present a lightweight powered knee prosthesis, which employs a series elastic actuator (SEA) integrating a high torque density external rotor motor, a ball screw and a slider-crank mechanism. A genetic algorithm (GA) is used to optimize the slider-crank mechanism's key parameters and improve the prosthesis's compactness. Combined with the hardware, a hybrid controller is proposed, which comprises impedance control in the stance phase with position control during the pre-swing and swing phases. The controller was applied to the powered prosthesis, and its capability to provide level walking functionality was evaluated on four above-knee amputees. The data obtained from these experimental trials indicated that the prosthesis could replicate the key biomechanical functions of a biological knee in the sagittal plane while the weight was lighter than most powered knee prostheses. In addition, the vertical ground reaction force (GRF) was quantitatively analyzed to validate that the powered knee prosthesis could improve wearing comfort with early-stance knee flexion. | [Chen, Wei; Ma, Yongxin; Ren, Lei; Wang, Xu; Zhang, Yao; Ren, Luquan] Jilin Univ, Key Lab Bion Engn, Minist Educ, Changchun 130012, Peoples R China; [Ren, Lei] Univ Manchester, Sch Mech Aerosp & Civil Engn, Manchester M13 9PL, England; [Liang, Wei] China Railway Construct Heavy Ind Corp Ltd, Changsha 410100, Hunan, Peoples R China; [Wei, Guowu] Univ Salford, Sch Sci Engn & Environm, Salford M5 4WT, England | Jilin University; University of Manchester; University of Salford | Ren, L (corresponding author), Jilin Univ, Key Lab Bion Engn, Minist Educ, Changchun 130012, Peoples R China. | National Key R&D Program of China; Science and Technology Research Project of Educational Department of Jilin Province | 1 | NOV | 2024 | 10.1109/LRA.2024.3416799 | http://dx.doi.org/10.1109/LRA.2024.3416799 |
10 | J | Tran, M; Gabert, L; Hood, S; Lenzi, T | Tran, Minh; Gabert, Lukas; Hood, Sarah; Lenzi, Tommaso | A lightweight robotic leg prosthesis replicating the biomechanics of the knee, ankle, and toe joint | SCIENCE ROBOTICS | Robotic leg prostheses promise to improve the mobility and quality of life of millions of individuals with lower-limb amputations by imitating the biomechanics of the missing biological leg. Unfortunately, existing powered prostheses are much heavier and bigger and have shorter battery life than conventional passive prostheses, severely limiting their clinical viability and utility in the daily life of amputees. Here, we present a robotic leg prosthesis that replicates the key biomechanical functions of the biological knee, ankle, and toe in the sagittal plane while matching the weight, size, and battery life of conventional microprocessor-controlled prostheses. The powered knee joint uses a unique torque-sensitive mechanism combining the benefits of elastic actuators with that of variable transmissions. A single actuator powers the ankle and toe joints through a compliant, underactuated mechanism. Because the biological toe dissipates energy while the biological ankle injects energy into the gait cycle, this underactuated system regenerates substantial mechanical energy and replicates the key biomechanical functions of the ankle/foot complex during walking. A compact prosthesis frame enclos-es all mechanical and electrical components for increased robustness and efficiency. Preclinical tests with three individuals with above-knee amputation show that the proposed robotic leg prosthesis allows for common am-bulation activities with close to normative kinematics and kinetics. Using an optional passive mode, users can walk on level ground indefinitely without charging the battery, which has not been shown with any other powered or microprocessor-controlled prostheses. A prosthesis with these characteristics has the potential to improve real-world mobility in individuals with above-knee amputation. | [Lenzi, Tommaso] Univ Utah, Dept Mech Engn, Salt Lake City, UT 84112 USA; Univ Utah, Robot Ctr, Salt Lake City, UT USA | Utah System of Higher Education; University of Utah; Utah System of Higher Education; University of Utah | Lenzi, T (corresponding author), Univ Utah, Dept Mech Engn, Salt Lake City, UT 84112 USA. | National Institutes of Health (NIH) | 82 | NOV 23 | 2022 | 10.1126/scirobotics.abo3996 | http://dx.doi.org/10.1126/scirobotics.abo3996 | |
11 | J | Basla, C; Chee, L; Valle, G; Raspopovic, S | Basla, Chiara; Chee, Lauren; Valle, Giacomo; Raspopovic, Stanisa | A non-invasive wearable sensory leg neuroprosthesis: mechanical, electrical and functional validation | JOURNAL OF NEURAL ENGINEERING | sensory feedback; wearable sensors; electro-cutaneous stimulation; amputees; Cybathlon; Prosthesis | Objective. Lower limb amputees suffer from a variety of functional deficits related to the absence of sensory communication between the central nervous system and the lost extremity. Indeed, they experience high risk of falls, asymmetric walking and balance, and low prosthesis embodiment, that significantly decrease their quality of life. Presently, there are no commercially available devices able to provide sensory feedback to leg amputees but recently some invasive solutions (i.e. requiring surgery) have been proposed by different research groups. However, a non-invasive effective alternative exploitable in everyday life is still missing. Approach. To address this need we developed and tested a lightweight, non-invasive, wearable technology (NeuroLegs) providing sensory (i.e. knee angle joint and tactile) feedback to the users through electro-cutaneous stimulation. Standard mechanical and electrical tests were performed to assess the safety and reliability of the technology. The NeuroLegs system was verified in terms of accuracy in measuring relevant gait parameters in healthy participants. The effectiveness of the NeuroLegs system at improving walking of three transfemoral amputees was then verified in movement laboratory tests. Main results. No mechanical failures, stable communication among system's parts and a long-lasting battery were demonstrated. A high temporal reliability was found when detecting stride features (important for the real-time configuration) with a correct match to the walking cadence in all assessed walking conditions. Finally, transfemoral amputees showed increased temporal gait symmetry and augmented confidence when walking with the sensory feedback compared to no feedback condition. Stepping outside from the lab, NeuroLegs was successfully exploited by a transfemoral amputee in CYBATHLON Global Edition 2020 in several challenging situations related to daily-living activities. Significance. Our results demonstrate that the NeuroLegs system provides the user with useful sensory information that can be successfully exploited in different walking conditions of daily life. | [Basla, Chiara; Chee, Lauren; Valle, Giacomo; Raspopovic, Stanisa] Swiss Fed Inst Technol, Dept Hlth Sci & Technol, Lab Neuroengn, Inst Robot & Intelligent Syst, CH-8092 Zurich, Switzerland | Swiss Federal Institutes of Technology Domain; ETH Zurich | Raspopovic, S (corresponding author), Swiss Fed Inst Technol, Dept Hlth Sci & Technol, Lab Neuroengn, Inst Robot & Intelligent Syst, CH-8092 Zurich, Switzerland. | National Science Foundation (NSF) | 22 | FEB 1 | 2022 | 10.1088/1741-2552/ac43f8 | http://dx.doi.org/10.1088/1741-2552/ac43f8 |
12 | J | Gehlhar, R; Tucker, M; Young, AJ; Ames, AD | Gehlhar, Rachel; Tucker, Maegan; Young, Aaron J.; Ames, Aaron D. | A review of current state-of-the-art control methods for lower-limb powered prostheses | ANNUAL REVIEWS IN CONTROL | Prostheses; Control; Robotics; Lower-extremity; User-customization | Lower-limb prostheses aim to restore ambulatory function for individuals with lower-limb amputations. While the design of lower-limb prostheses is important, this paper focuses on the complementary challenge- the control of lower-limb prostheses. Specifically, we focus on powered prostheses, a subset of lower-limb prostheses, which utilize actuators to inject mechanical power into the walking gait of a human user. In this paper, we present a review of existing control strategies for lower-limb powered prostheses, including the control objectives, sensing capabilities, and control methodologies. We separate the various control methods into three main tiers of prosthesis control: High-level control for task and gait phase estimation, mid-level control for desired torque computation (both with and without the use of reference trajectories), and low-level control for enforcing the computed torque commands on the prosthesis. In particular, we focus on the high-and mid-level control approaches in this review. Additionally, we outline existing methods for customizing the prosthetic behavior for individual human users. Finally, we conclude with a discussion on future research directions for powered lower-limb prostheses based on the potential of current control methods and open problems in the field. | [Gehlhar, Rachel; Tucker, Maegan; Ames, Aaron D.] CALTECH, Dept Mech & Civil Engn, 1200 E Calif Blvd, Pasadena, CA 91125 USA; [Young, Aaron J.] Georgia Inst Technol, Woodruff Sch Mech Engn, North Ave, Atlanta, GA 30332 USA; [Young, Aaron J.] Georgia Inst Technol, Inst Robot & Intelligent Machines, North Ave, Atlanta, GA 30332 USA; [Ames, Aaron D.] CALTECH, Dept Comp & Math Sci, 1200 E Calif Blvd, Pasadena, CA 91125 USA | California Institute of Technology; University System of Georgia; Georgia Institute of Technology; University System of Georgia; Georgia Institute of Technology; California Institute of Technology | Gehlhar, R (corresponding author), CALTECH, Dept Mech & Civil Engn, 1200 E Calif Blvd, Pasadena, CA 91125 USA. | National Institutes of Health (NIH) | 62 | 2023 | 10.1016/j.arcontrol.2023.03.003 | http://dx.doi.org/10.1016/j.arcontrol.2023.03.003 | |
13 | C | Mazzarini, A; Fagioli, I; Baldoni, A; Dell'Agnello, F; Gruppioni, E; Trigili, E; Crea, S; Vitiello, N | Mazzarini, Alessandro; Fagioli, Ilaria; Baldoni, Andrea; Dell'Agnello, Filippo; Gruppioni, Emanuele; Trigili, Emilio; Crea, Simona; Vitiello, Nicola | A Robotic Ankle-Foot Prosthesis Based on Torsional Series and Parallel Elasticity | 2024 10TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE FOR BIOMEDICAL ROBOTICS AND BIOMECHATRONICS, BIOROB 2024 | This paper presents the design and characterization of a robotic ankle-foot prosthesis embedding torsional series and parallel elasticity to mimic the biomechanics of a healthy ankle during prototypical tasks. The prosthesis components were selected to satisfy biomechanical requirements in different locomotion modes. Benchtop testing showed an open-loop current-to-torque bandwidth of 12 Hz, position tracking errors lower than 1.6 deg and torque step response overshoot below 3%. While tracking normative position trajectories, the parallel spring generated approximately the 25% of the peak biological torque during the dorsiflexion phase of walking, hence reducing the motor's work. Moreover, the actuation unit can mimic a broad range of virtual impedances similar to the one of the intact ankle. The results of bench testing demonstrated that the device is versatile and could be further tested in human-subjects testing. | [Mazzarini, Alessandro; Fagioli, Ilaria; Baldoni, Andrea; Dell'Agnello, Filippo; Trigili, Emilio; Crea, Simona; Vitiello, Nicola] Scuola Super Sant Anna, BioRobot Inst, Pontedera, Italy; [Mazzarini, Alessandro; Fagioli, Ilaria; Baldoni, Andrea; Dell'Agnello, Filippo; Trigili, Emilio; Crea, Simona; Vitiello, Nicola] Scuola Super Sant Anna, Dept Excellence Robot & AI, Pisa, Italy; [Crea, Simona; Vitiello, Nicola] IRCSS Fdn Don Carlo Gnocchi, Florence, Italy; [Gruppioni, Emanuele] Ctr Protesi Inail Vigorso Budrio, Bologna, Italy | Scuola Superiore Sant'Anna; Scuola Superiore Sant'Anna | Mazzarini, A (corresponding author), Scuola Super Sant Anna, BioRobot Inst, Pontedera, Italy.;Mazzarini, A (corresponding author), Scuola Super Sant Anna, Dept Excellence Robot & AI, Pisa, Italy. | Istituto Nazionale per l'Assicurazione contro gli Infortuni sul Eavoro (Wail) in the MOTU++ project | 0 | 2024 | 10.1109/BIOROB60516.2024.10719780 | http://dx.doi.org/10.1109/BIOROB60516.2024.10719780 | ||
14 | J | Chang, KB; Parashar, P; Shen, LC; Chen, AR; Huang, YT; Pal, A; Lim, KC; Wei, PH; Kao, FC; Hu, JJ; Lin, ZH | Chang, Kuie-Bin; Parashar, Parag; Shen, Li -Chien; Chen, An-Rong; Huang, Yan-Tsz; Pal, Arnab; Lim, Kee-Chin; Wei, Po-Han; Kao, Fu-Cheng; Hu, Jin-Jia; Lin, Zong-Hong | A triboelectric nanogenerator-based tactile sensor array system for monitoring pressure distribution inside prosthetic limb | NANO ENERGY | Pressure sensor; Prosthetic socket; Triboelectric nanogenerator; Electrospinning; Self -powered; Tactile sensor | In the prosthetic field, quantifying interfacial pressure distribution between the amputee's residual limb and the socket's internal environment is imperative for developing new technologies. However, the commercially available pressure sensors have several disadvantages, namely external power supply requirements, low stability, high cost, and complexities related to integrating the sensor system into prosthetic devices. Herein, we propose a self-powered triboelectric nanogenerator (TENG) based flexible tactile sensor array system to monitor prosthetic socket internal pressure distribution in real-time. The proposed sensor consists of biocompatible poly-dimethylsiloxane (PDMS) polymer and polycaprolactone (PCL) nanofiber membranes as triboelectric materials. The biodegradable PCL nanofiber membrane, fabricated via a scalable and cost-effective electrospinning process, possesses a high surface area-to-volume ratio, facilitating enhanced charge generation during triboelectrification. The as-fabricated TENG-based tactile sensor is highly stable up to 10,000 cycles. Furthermore, the voltage of the tactile sensor is independent of different temperature and humidity values, demonstrating the stability of the sensor under various environmental conditions. Finally, we successfully integrated the tactile sensor array within a prosthetic device to monitor real-time pressure distribution inside the prosthetic socket during gait simulation. We believe that the proposed novel design provides a new dimension for the rapid development of self-powered, low-cost, and highly stable pressure monitoring systems with considerable potential for commercialization. | [Chang, Kuie-Bin; Shen, Li -Chien; Hu, Jin-Jia] Natl Yang Ming Chiao Tung Univ, Dept Mech Engn, Hsinchu, Taiwan; [Parashar, Parag; Lim, Kee-Chin; Lin, Zong-Hong] Natl Taiwan Univ, Dept Biomed Engn, Taipei, Taiwan; [Chen, An-Rong] Natl Tsing Hua Univ, Dept Mat Sci & Engn, Hsinchu, Taiwan; [Huang, Yan-Tsz; Wei, Po-Han] Natl Tsing Hua Univ, Inst Biomed Engn, Hsinchu, Taiwan; [Pal, Arnab] Natl Tsing Hua Univ, Int Intercoll PhD Program, Hsinchu, Taiwan; [Kao, Fu-Cheng] Chang Gung Mem Hosp, Dept Orthopaed Surg, Taoyuan, Taiwan; [Kao, Fu-Cheng] Chang Gung Univ, Coll Med, Taoyuan, Taiwan; [Lin, Zong-Hong] Natl Tsing Hua Univ, Frontier Res Ctr Fundamental & Appl Sci Matters, Hsinchu 30013, Taiwan | National Yang Ming Chiao Tung University; National Taiwan University; National Tsing Hua University; National Tsing Hua University; National Tsing Hua University; Chang Gung Memorial Hospital; Chang Gung University; National Tsing Hua University | Hu, JJ (corresponding author), Natl Yang Ming Chiao Tung Univ, Dept Mech Engn, Hsinchu, Taiwan.;Lin, ZH (corresponding author), Natl Taiwan Univ, Dept Biomed Engn, Taipei, Taiwan. | National Science and Technology Council of Taiwan (NSTC); National Health Research Institutes(National Health Research Institutes, Japan); Chang Gung Memorial Hospital(Chang Gung Memorial Hospital); ; | 54 | JUN 15 | 2023 | 10.1016/j.nanoen.2023.108397 | http://dx.doi.org/10.1016/j.nanoen.2023.108397 |
15 | C | Cowan, M; Creveling, S; Sullivan, LM; Gabert, L; Lenzi, T | Cowan, Marissa; Creveling, Suzi; Sullivan, Liam M.; Gabert, Lukas; Lenzi, Tommaso | A Unified Controller for Natural Ambulation on Stairs and Level Ground with a Powered Robotic Knee Prosthesis | 2023 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IROS | Powered lower-limb prostheses have the potential to improve amputee mobility by closely imitating the biomechanical function of the missing biological leg. To accomplish this goal, powered prostheses need controllers that can seamlessly adapt to the ambulation activity intended by the user. Most powered prosthesis control architectures address this issue by switching between specific controllers for each activity. This approach requires online classification of the intended ambulation activity. Unfortunately, any misclassification can cause the prosthesis to perform a different movement than the user expects, increasing the likelihood of falls and injuries. Therefore, classification approaches require near-perfect accuracy to be used safely in real life. In this paper, we propose a unified controller for powered knee prostheses which allows for walking, stair ascent, and stair descent without the need for explicit activity classification. Experiments with one individual with an above-knee amputation show that the proposed controller enables seamless transitions between activities. Moreover, transition between activities is possible while leading with either the sound-side or the prosthesis. A controller with these characteristics has the potential to improve amputee mobility. | [Cowan, Marissa; Creveling, Suzi; Sullivan, Liam M.; Gabert, Lukas; Lenzi, Tommaso] Univ Utah, Robot Ctr, Salt Lake City, UT USA; [Cowan, Marissa; Creveling, Suzi; Sullivan, Liam M.; Gabert, Lukas; Lenzi, Tommaso] Univ Utah, Dept Mech Engn, Salt Lake City, UT USA; [Gabert, Lukas; Lenzi, Tommaso] Rocky Mt Ctr Occupat & Environm Hlth, Salt Lake City, UT USA; [Lenzi, Tommaso] Univ Utah, Dept Biomed Engn, Salt Lake City, UT USA | Utah System of Higher Education; University of Utah; Utah System of Higher Education; University of Utah; Utah System of Higher Education; University of Utah | Cowan, M (corresponding author), Univ Utah, Robot Ctr, Salt Lake City, UT USA.;Cowan, M (corresponding author), Univ Utah, Dept Mech Engn, Salt Lake City, UT USA. | National Institutes of Health (NIH) | 9 | 2023 | 10.1109/IROS55552.2023.10341691 | http://dx.doi.org/10.1109/IROS55552.2023.10341691 | ||
16 | C | Pirritano, MA; Neuman, RM; Molitor, SL; Klute, GK; Neptune, RR; Fey, NP | Pirritano, Marissa A.; Neuman, Ross M.; Molitor, Stephanie L.; Klute, Glenn K.; Neptune, Richard R.; Fey, Nicholas P. | Ability of a Robotic Ankle Prosthesis to Augment Effective Foot-Ankle Stiffness relative to Standalone Prosthetic Feet | 2024 10TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE FOR BIOMEDICAL ROBOTICS AND BIOMECHATRONICS, BIOROB 2024 | Well-prescribed prosthetic feet are critical to restore gait for persons with limb loss. Criteria for prescription can be difficult to define due to differences in individuals and few measurements defining the mechanical properties of prostheses. The use of a robotic ankle in series with a prosthesis can provide biological levels of mechanical power during gait. In addition, active ankle prostheses can adapt to different use cases. To assess how this paradigm influences user assistance, we quantified the effective stiffness of standalone feet of varying clinical stiffness categories in comparison to a robotic ankle in series with a fixed category level prosthetic foot. We hypothesized that control of a powered ankle across its range of stiffness and damping parameters can expand the effective stiffness range offered by commercially available passive feet, and better explain the effective stiffness rendered during loading. Benchtop compression loading was completed on energy storage and return feet of manufacturer-defined stiffness category levels (49), as well as an integrated prosthetic foot (category 9) and robotic ankle system. Force-displacement data were used to characterize stiffness in toe- and heel-only loading, at low (similar to 050% body weight) and high (similar to 50-100%) end levels. Control of the ankle captured well most of the profiles of standalone feet, as well as responses outside of these behaviors at low stiffness. Generally, there were stronger linear relationships between effective stiffness and category level of standalone feet (r=similar to 0.9), and less so between the stiffness gain of the robotic ankle and effective stiffness (r=similar to 0.8). The exception was for high-end toe-only loading of the standalone and robotic conditions (r=0.76 and 0.92, respectively). | [Pirritano, Marissa A.; Fey, Nicholas P.] Univ Texas Austin, Dept Biomed Engn, Austin, TX 78712 USA; [Neuman, Ross M.; Molitor, Stephanie L.; Neptune, Richard R.; Fey, Nicholas P.] Univ Texas Austin, Walker Dept Mech Engn, Austin, TX 78712 USA; [Klute, Glenn K.] VA RR&D Ctr Limb Loss & MoBil, Seattle, WA 98108 USA; [Klute, Glenn K.] Univ Washington, Dept Mech Engn, Seattle, WA 98105 USA | University of Texas System; University of Texas Austin; University of Texas System; University of Texas Austin; University of Washington; University of Washington Seattle | Pirritano, MA (corresponding author), Univ Texas Austin, Dept Biomed Engn, Austin, TX 78712 USA. | 0 | 2024 | 10.1109/BIOROB60516.2024.10719762 | http://dx.doi.org/10.1109/BIOROB60516.2024.10719762 | |||
17 | C | Johnson, C; Maldonado-Contreras, J; Young, AJ | Johnson, C.; Maldonado-Contreras, J.; Young, A. J. | Accelerating Constrained Continual Learning with Dynamic Active Learning: A Study in Adaptive Speed Estimation for Lower-Limb Prostheses | 2024 INTERNATIONAL SYMPOSIUM ON MEDICAL ROBOTICS, ISMR 2024 | Lower-limb prosthetics; robotics; machine learning; active learning; uncertainty sampling | Continual Learning is quickly emerging as a fundamental technique in almost all technical domains. This study develops its application in robotics, with a specific focus on transfemoral prosthetics, where machine learning models are fine-tuned in real-time to better predict ambulatory speed. This process of model adaptation faces several challenges stemming from the necessity of learning fast enough to keep up with real-time gait, while also ensuring sufficient accuracy and plasticity when encountering changing speeds and modalities. To address these challenges, we introduce Dynamic Active Learning (DAL) and Intermittent DAL (IDAL), novel frameworks which employ uncertainty-based sampling, as potential precursor steps to learning in this adaptation pipeline. Our contributions not only provide a robust guarantee that adaptation will occur within the time constraints posed by gait cycles, but also increase the rate of accuracy convergence by 51%, IDAL has been shown to attain a 4% lower post-convergence error rate, and maintain 30% more reliable post-convergence predictions compared to non-AL based methods of adaptation. In developing this system, we assessed numerous uncertainty metrics, finding that the Query by Committee method performs the best, attaining a Spearman Correlation Coefficient of 0.81 with ground truth error. While showcased through transfemoral prosthetics, our results illustrate the wide reaching potential of our DAL systems across diverse robotics applications. | [Johnson, C.] Georgia Inst Technol, Coll Comp, Atlanta, GA 30332 USA; [Maldonado-Contreras, J.; Young, A. J.] Georgia Inst Technol, Woodruff Sch Mech Engn, Atlanta, GA 30332 USA; [Maldonado-Contreras, J.; Young, A. J.] Georgia Inst Technol, Inst Robot & Intelligent Machines, Atlanta, GA 30332 USA | University System of Georgia; Georgia Institute of Technology; University System of Georgia; Georgia Institute of Technology; University System of Georgia; Georgia Institute of Technology | Johnson, C (corresponding author), Georgia Inst Technol, Coll Comp, Atlanta, GA 30332 USA. | National Institutes of Health (NIH) | 1 | 2024 | 10.1109/ISMR63436.2024.10585934 | http://dx.doi.org/10.1109/ISMR63436.2024.10585934 | |
18 | J | Zheng, EH; Wan, JC; Gao, SY; Wang, QN | Zheng, Enhao; Wan, Jiacheng; Gao, Siyuan; Wang, Qining | Adaptive Locomotion Transition Recognition With Wearable Sensors for Lower Limb Robotic Prosthesis | IEEE-ASME TRANSACTIONS ON MECHATRONICS | Adaptive recognition model; interday and interuser; locomotion mode recognition; lower limb robotic prostheses; template generation | Locomotion transition recognition with external disturbances is a key issue in lower limb robotic prostheses. Redonning the prosthetic socket and individual differences are encountered frequently in daily life. They change the feature distribution and further fail the previously trained recognition model. To bridge the technical gap between laboratory validation and practical demands, researchers need to construct an adaptive recognition method with high accuracy, quick response, time-efficient calibration, and minimal interference to the human body. Our study developed an adaptive recognition algorithm based on two miniaturized inertial sensors (anterior thigh and forefoot) and a foot pressure sensor, which can easily be integrated into the prosthesis. The algorithm fused probability-based fuzzy classifiers, which took heuristic-based features as inputs with a dynamic-time-warping-based automatic template generation block. It enables the recognition model to quickly fit the parameters for an untrained mode after external disturbances. We validated the proposed adaptive recognition method on 13 healthy subjects, performing 18 motion transitions with random interday intervals and across user evaluation, both offline and online. Even with the data of one subject as the prior knowledge, the other subjects produced an average accuracy of 98.04% and an average transition time latency of -180.99 ms without manual training in interday and intersubject uses. We also tested the method on two subjects using robotic prostheses, one person with a transfemoral amputation and the other person with a transtibial amputation. The average accuracy was still as high as 98.06% (transfemoral) and 100% (transtibial) without manual calibration after seven days of intervals. The results proved that the adaptive recognition method is robust to sensor redonning and user changes. Compared with the state-of-the-art methods, our study makes a further step toward the practical use of robotic prostheses. Future studies will be conducted to implement the algorithm on the robotic prosthesis for more extensive tests. | [Zheng, Enhao] Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China; [Wan, Jiacheng] Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China; [Gao, Siyuan; Wang, Qining] Peking Univ, Coll Engn, Dept Adv Mfg & Robot, Beijing 100871, Peoples R China; [Gao, Siyuan] Peking Univ, Beijing Engn Res Ctr Intelligent Rehabil Engn, Beijing 100871, Peoples R China; [Wang, Qining] Univ Hlth & Rehabil Sci, Med Robot Lab, Qingdao 266071, Peoples R China; [Wang, Qining] Beijing Inst Gen Artificial Intelligence, Beijing 100080, Peoples R China; [Wang, Qining] Peking Univ, Inst Artificial Intelligence, Beijing 100871, Peoples R China | Chinese Academy of Sciences; Institute of Automation, CAS; Beijing Institute of Technology; Peking University; Peking University; University of Health & Rehabilitation Sciences; Peking University | Wang, QN (corresponding author), Peking Univ, Coll Engn, Dept Adv Mfg & Robot, Beijing 100871, Peoples R China.;Wang, QN (corresponding author), Univ Hlth & Rehabil Sci, Med Robot Lab, Qingdao 266071, Peoples R China.;Wang, QN (corresponding author), Beijing Inst Gen Artificial Intelligence, Beijing 100080, Peoples R China.;Wang, QN (corresponding author), Peking Univ, Inst Artificial Intelligence, Beijing 100871, Peoples R China. | National Natural Science Foundation of China (NSFC) | 5 | FEB | 2024 | 10.1109/TMECH.2023.3278315 | http://dx.doi.org/10.1109/TMECH.2023.3278315 |
19 | C | Johnson, C; Cho, J; Maldonado-Contreras, J; Chaluvadi, S; Young, AJ | Johnson, C.; Cho, J.; Maldonado-Contreras, J.; Chaluvadi, S.; Young, A. J. | Adaptive Lower-Limb Prosthetic Control: Towards Personalized Intent Recognition & Context Estimation | 2023 INTERNATIONAL SYMPOSIUM ON MEDICAL ROBOTICS, ISMR | Lower-limb prosthetics; biomechanics; machine learning; context estimation; intent recognition | Historical advancements in lower-limb prostheses have reflected the challenges of diverse anthropomorphic biomechanics, limiting intelligent control systems from being implemented and reflecting true user intent. With recent advancements in machine learning (ML), however, this notion is being challenged. In transfemoral-powered prostheses, time series information has been used to infer context (slope angle and walking speed) and intent (ambulation mode) and scale torque assistance accordingly in real time. In this study, we build off this work by proposing and validating a real-time framework for adaptive walking speed context estimation. Our system makes use of the general similarity in human gait patterns and iterates subject-independent ML models used for prediction towards subject-dependent models by method of batched retrospective labeling and retraining. Offline validation for walking speed estimation has been completed using seven amputee subjects' data, showing an average subject-independent MAE of 0.063 being reduced to 0.043 m/s, a 31.7% improvement. In addition, we discuss and present preliminary results for walking speed estimation and several alternative methods of retrospective labeling. | [Johnson, C.; Chaluvadi, S.] Georgia Inst Technol, Coll Comp, Atlanta, GA 30332 USA; [Cho, J.; Maldonado-Contreras, J.; Young, A. J.] Georgia Inst Technol, Woodruff Sch Mech Engn, Atlanta, GA 30332 USA; [Maldonado-Contreras, J.; Young, A. J.] Georgia Inst Technol, Inst Robot & Intelligent Machines, Atlanta, GA 30332 USA | University System of Georgia; Georgia Institute of Technology; University System of Georgia; Georgia Institute of Technology; University System of Georgia; Georgia Institute of Technology | Johnson, C (corresponding author), Georgia Inst Technol, Coll Comp, Atlanta, GA 30332 USA. | 2 | 2023 | 10.1109/ISMR57123.2023.10130251 | http://dx.doi.org/10.1109/ISMR57123.2023.10130251 | ||
20 | J | Fagioli, I; Mazzarini, A; Livolsi, C; Gruppioni, E; Vitiello, N; Crea, S; Trigili, E | Fagioli, Ilaria; Mazzarini, Alessandro; Livolsi, Chiara; Gruppioni, Emanuele; Vitiello, Nicola; Crea, Simona; Trigili, Emilio | Advancements and Challenges in the Development of Robotic Lower Limb Prostheses: A Systematic Review | IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS | Prosthetics; Ankle; Knee; Prototypes; Legged locomotion; Sensors; Actuators; mechatronics; control; robotic rehabilitation | Lower limb prosthetics, essential for restoring mobility in individuals with limb loss, have witnessed significant advancements in recent years. This systematic review reports the recent research advancements in the field of semi-active and active lower limb prostheses. The review focuses on the mechatronic features of the devices, the sensing and control strategies, and the performance verification with end-users. A total of 53 prosthetic prototypes were identified and analyzed, including 16 knee-ankle prostheses, 18 knee prostheses, and 19 ankle prostheses. The review highlights some of the open challenges in the field of prosthetic research. | [Fagioli, Ilaria; Mazzarini, Alessandro; Livolsi, Chiara; Vitiello, Nicola; Crea, Simona; Trigili, Emilio] BioRobot Inst, Scuola Superiore Sant Anna, I-56025 Pontedera, Italy; [Fagioli, Ilaria; Mazzarini, Alessandro; Livolsi, Chiara; Vitiello, Nicola; Crea, Simona; Trigili, Emilio] Scuola Super Sant Anna, Dept Excellence Robot & AI, I-56127 Pisa, Italy; [Gruppioni, Emanuele] Ctr Protesi Inail, I-40054 Bologna, Italy | Scuola Superiore Sant'Anna | Fagioli, I; Trigili, E (corresponding author), BioRobot Inst, Scuola Superiore Sant Anna, I-56025 Pontedera, Italy.;Fagioli, I; Trigili, E (corresponding author), Scuola Super Sant Anna, Dept Excellence Robot & AI, I-56127 Pisa, Italy. | Scuola Superiore S.Anna di Studi Universitari e di Perfezionamento; CRUI CARE Agreement | 1 | NOV | 2024 | 10.1109/TMRB.2024.3464126 | http://dx.doi.org/10.1109/TMRB.2024.3464126 |
21 | J | Liu, K; Kong, XW; Yu, JJ | Liu, Kai; Kong, Xianwen; Yu, Jingjun | Algebraic synthesis and input-output analysis of 1-DOF multi-loop linkages with a constant transmission ratio between two adjacent parallel, intersecting or skew axes | MECHANISM AND MACHINE THEORY | Synthesis; Multi-loop linkage; Constant transmission ratio; Dual quaternion; Motion polynomial | This paper deals with the algebraic synthesis and input-output analysis of one degree-of-freedom (1-DOF) multi-loop planar, spherical, and spatial linkages for increasing or decreasing angular motion with a desired constant transmission ratio between two adjacent parallel, intersecting, and skew axes respectively. Based on the rotation scaling model and motion polynomials over dual quaternions, an algebraic synthesis method including three procedures is proposed to exactly construct novel multi-loop linkages owning arbitrarily prescribed constant transmission ratios and input/output axes. To illustrate this method, several 1-DOF multi-loop planar, spherical, and spatial linkages for rotation scaling are synthesized by designating various input and output axes as well as transmission ratios. Taking some multi-loop planar, spherical, and spatial linkages as examples, input-output analysis is carried out to verify their transmission characteristics. The results demonstrate that the generated 1-DOF multi-loop linkages can indeed transmit motion with prescribed constant transmission ratios and input/output axes. This work provides a framework for further investigation on mechanisms performing specified tasks for motion transmission. | [Liu, Kai] Beijing Univ Technol, Fac Mat & Mfg, Beijing 100124, Peoples R China; [Kong, Xianwen] Heriot Watt Univ, Sch Engn & Phys Sci, Edinburgh EH14 4AS, Scotland; [Yu, Jingjun] Beihang Univ, Robot Inst, Beijing 100191, Peoples R China | Beijing University of Technology; Heriot Watt University; Beihang University | Liu, K (corresponding author), Beijing Univ Technol, Fac Mat & Mfg, Beijing 100124, Peoples R China. | National Natural Science Foundation of China (NSFC) | 5 | DEC | 2023 | 10.1016/j.mechmachtheory.2023.105467 | http://dx.doi.org/10.1016/j.mechmachtheory.2023.105467 |
22 | J | Liu, K; Kong, XW; Yu, JJ | Liu, Kai; Kong, Xianwen; Yu, Jingjun | Algebraic synthesis of single-loop 6R spatial mechanisms for constant velocity transmission between two adjacent parallel, intersecting or skew axes | MECHANISM AND MACHINE THEORY | Synthesis; Single -loop mechanism; Constant velocity transmission; Transmission quality optimization; Dual quaternion | This paper addresses the algebraic synthesis of novel single-loop 6R spatial mechanisms, enabling constant -1:1 or 1:1 velocity ratio transmission between two adjacent axes, whether parallel, intersecting, or skew. Based on the motion polynomial over dual quaternions, an algebraic synthesis method including four steps is presented to construct and optimize single-loop 6R spatial mechanisms with a constant transmission ratio of -1:1 or 1:1 between arbitrarily designated input and output axes. Using this method, several novel single-loop 6R spatial mechanisms for constant velocity transmission are constructed by designating different poses and rotation directions of the input and output axes. Kinematics analysis of single-loop 6R spatial mechanisms is implemented to verify their transmission characteristics. The results reveal that the generated 1-DOF singleloop 6R novel mechanisms can indeed transmit motion with a constant transmission ratio of -1:1 or 1:1 between two adjacent parallel, intersecting, or skew axes. This work provides a framework for further investigation on single-loop mechanisms with special transmission characteristics. | [Liu, Kai] Beijing Univ Technol, Coll Mech & Energy Engn, Beijing 100124, Peoples R China; [Kong, Xianwen] Heriot Watt Univ, Sch Engn & Phys Sci, Edinburgh EH14 4AS, Scotland; [Yu, Jingjun] Beihang Univ, Robot Inst, Beijing 100191, Peoples R China | Beijing University of Technology; Heriot Watt University; Beihang University | Liu, K (corresponding author), Beijing Univ Technol, Coll Mech & Energy Engn, Beijing 100124, Peoples R China. | National Natural Science Foundation of China (NSFC) | 2 | SEP | 2024 | 10.1016/j.mechmachtheory.2024.105725 | http://dx.doi.org/10.1016/j.mechmachtheory.2024.105725 |
23 | J | Cheng, SH; Laubscher, CA; Best, TK; Gregg, RD | Cheng, Shihao; Laubscher, Curt A.; Best, T. Kevin; Gregg, Robert D. | Ambilateral Activity Recognition and Continuous Adaptation With a Powered Knee-Ankle Prosthesis | IEEE TRANSACTIONS ON ROBOTICS | Legged locomotion; Prosthetics; Stairs; Accuracy; Real-time systems; Logic; Aerospace electronics; Acoustics; Thigh; Robot sensing systems; Activity recognition; intent recognition; prosthetic limbs; wearable robots | For powered prosthetic legs to be viable in everyday situations, they require an activity classification system that is not only accurate but also straightforward to understand and use. However, incorporating the numerous activity modes in real-world ambulation often requires high-dimensional feature spaces and restrictions on the leg leading each transition. This article addresses these challenges by delegating sit/stand transitions and variable-incline walking to the mid-level controller, effectively reducing the classification space to four states with easily distinguishable features. We implement simple heuristic rules for both prosthetic-led and intact-led (i.e., ambilateral) transitions, using lower limb kinematic features, ground contact and inclination, and environmental distance from an ultrasonic sensor. Two transfemoral amputee subjects using a powered knee-ankle prosthesis demonstrated an ambilateral transition accuracy of 99.2% under both self-paced and rapid-paced/fatiguing conditions, with a 100% recovery rate due to backup logic or user-cued resets. The incline estimator enabled the prosthesis to continuously adapt between level and inclined surfaces without explicit classification. These results and an outdoor multiterrain demonstration indicate that simple and straightforward transition logic can enable powered prosthetic legs to be used reliably across a broad array of daily activities. | [Cheng, Shihao; Laubscher, Curt A.; Best, T. Kevin; Gregg, Robert D.] Univ Michigan, Dept Robot, Ann Arbor, MI 48109 USA | University of Michigan System; University of Michigan | Gregg, RD (corresponding author), Univ Michigan, Dept Robot, Ann Arbor, MI 48109 USA. | National Institutes of Health (NIH) | 0 | 2025 | 10.1109/TRO.2025.3539206 | http://dx.doi.org/10.1109/TRO.2025.3539206 | |
24 | C | Simon, AM; Ursetta, F; Shah, K; Stephens, M; Ikeda, AJ; Finucane, SB; McClerklin, E; Lipsey, J; Hargrove, LJ | Simon, Ann M.; Ursetta, Frank; Shah, Kunal; Stephens, Michael; Ikeda, Andrea J.; Finucane, Suzanne B.; McClerklin, Emoonah; Lipsey, Jim; Hargrove, Levi J. | Ambulation Control System Design for a Hybrid Knee Prosthesis | 2022 INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR) | Prosthetic knees available to individuals with transfemoral amputation seek to restore functional ability to the user. Passive prosthetic knees are lightweight but can restore only limited, dissipative ambulation activities whereas active knees can provide energy to restore additional ambulation activities such as stair climbing and standing up from a chair. Semi-active prosthetic devices aim to only power a subset of activities and use passive components and control when that power is not necessary. Here, we outline an ambulation control system for a lightweight Hybrid Knee prosthesis that is powered for climbing stairs and passive for other ambulation activities (level-ground walking, walking on an incline, and stair descent). We include preliminary offline and online intent recognition system results for one able-bodied user and one individual with a transfemoral amputation demonstrating low error rates in predicting between active and passive control. | [Simon, Ann M.; Ursetta, Frank; Shah, Kunal; Stephens, Michael; Ikeda, Andrea J.; Finucane, Suzanne B.; McClerklin, Emoonah; Lipsey, Jim; Hargrove, Levi J.] Shirley Ryan AbilLab, Chicago, IL 60611 USA; [Simon, Ann M.; Hargrove, Levi J.] Northwestern Univ, Dept Phys Med & Rehabil, Chicago, IL 60208 USA; [Hargrove, Levi J.] Northwestern Univ, Dept Biomed Engn, Evanston, IL USA | Northwestern University; Northwestern University | Simon, AM (corresponding author), Shirley Ryan AbilLab, Chicago, IL 60611 USA.;Simon, AM (corresponding author), Northwestern Univ, Dept Phys Med & Rehabil, Chicago, IL 60208 USA. | National Institutes of Health (NIH) | 3 | 2022 | 10.1109/ICORR55369.2022.9896607 | http://dx.doi.org/10.1109/ICORR55369.2022.9896607 | ||
25 | J | Du, X; Lu, SY; Tang, R; Li, XB; Miao, JC; Wu, LY; Yang, Z; Chen, BK | Du, Xing; Lu, Shiyi; Tang, Rui; Li, Xiaobing; Miao, Jiacheng; Wu, Longyong; Yang, Zan; Chen, Bingkui | An efficient method for designing high-performance planetary roller screw mechanism with low contact stress | TRIBOLOGY INTERNATIONAL | Planetary roller screw mechanism; Convex-to-concave contact; Low contact stress; Multi-objective optimization | The high contact stress of the first few teeth of the planetary roller screw mechanism can be effectively alleviated by convex-to-concave contact mode. The load distribution model is constructed based on the convex/concave tooth profile model, and the maximum contact stresses at the screw-roller and roller-nut interfaces are simultaneously considered to construct a multi-objective optimization model (MOOM). However, complicated arc contact will inevitably make the MOOM involves many nonlinear constraints (NCs). Therefore, a feasibility identification-based NSGA-II is used to locate and further search the complicated feasible regions brought by many NCs for searching the best structural parameters. The results show that the contact stresses over thread teeth are decreased based on the designed multi-objective modeling and optimization framework. | [Du, Xing; Lu, Shiyi; Tang, Rui; Li, Xiaobing; Wu, Longyong; Yang, Zan] Nanchang Univ, Sch Adv Mfg, Nanchang 330031, Peoples R China; [Tang, Rui; Miao, Jiacheng; Chen, Bingkui] Chongqing Univ, State Key Lab Mech Transmiss, Chongqing 400044, Peoples R China; [Yang, Zan] TELLHOW Scitech CO LTD, Tellhow Informat Bldg, Nanchang 330031, Peoples R China | Nanchang University; Chongqing University | Yang, Z (corresponding author), Nanchang Univ, Sch Adv Mfg, Nanchang 330031, Peoples R China.;Miao, JC (corresponding author), Chongqing Univ, State Key Lab Mech Transmiss, Chongqing 400044, Peoples R China. | Jiangxi Provincial Natural Science Foundation | 11 | SEP | 2023 | 10.1016/j.triboint.2023.108709 | http://dx.doi.org/10.1016/j.triboint.2023.108709 |
26 | J | Bons, Z; Thomas, GC; Mooney, L; Rouse, EJ | Bons, Zachary; Thomas, Gray C.; Mooney, Luke; Rouse, Elliott J. | An Energy-Dense Two-Part Torsion Spring Architecture and Design Tool | IEEE-ASME TRANSACTIONS ON MECHATRONICS | Design; prosthetics; robotics; series elastic actuators (SEA); springs; wearable robotics | Emerging wearable, assistive, and mobile robots seek to interact with the environment and/or humans in a compliant, dynamic, and adaptable way. Springs are critical to achieving this objective, but the associated increase in volume, mass, and complexity is limiting their application and impact in this rapidly developing field. This article presents a novel rotary spring architecture that is both lightweight and compact. Our two-part spring consists of radially-spaced cantilever beams that interface with an internal, gear-like camshaft. We present the concept and equations governing their mechanics and design. To facilitate broad adoption, we introduce an open-source design tool, which enables the design of custom springs in minutes instead of hours or days. We also empirically demonstrate our design with four test springs and validate the achievement of target spring rates and deflections. Finally, we present several redesigns of existing springs in the robotics literature to demonstrate the wide applicability of our spring architecture. | [Bons, Zachary; Rouse, Elliott J.] Univ Michigan, Neurobion Lab, Ann Arbor, MI 48109 USA; [Thomas, Gray C.] Univ Michigan, Ann Arbor, MI 48109 USA; [Thomas, Gray C.] Texas A&M Univ, HERC Lab, College Stn, TX 77840 USA; [Mooney, Luke] Dephy Inc, Maynard 01754, MA USA | University of Michigan System; University of Michigan; University of Michigan System; University of Michigan; Texas A&M University System; Texas A&M University College Station | Rouse, EJ (corresponding author), Univ Michigan, Neurobion Lab, Ann Arbor, MI 48109 USA. | National Science Foundation (NSF) | 3 | JUN | 2024 | 10.1109/TMECH.2023.3334957 | http://dx.doi.org/10.1109/TMECH.2023.3334957 |
27 | J | Fagioli, I; Lanotte, F; Fiumalbi, T; Baldoni, A; Mazzarini, A; Dell'Agnello, F; Eken, H; Papapicco, V; Ciapetti, T; Maselli, A; Macchi, C; Dalmiani, S; Davalli, A; Gruppioni, E; Trigili, E; Crea, S; Vitiello, N | Fagioli, Ilaria; Lanotte, Francesco; Fiumalbi, Tommaso; Baldoni, Andrea; Mazzarini, Alessandro; Dell'Agnello, Filippo; Eken, Huseyin; Papapicco, Vito; Ciapetti, Tommaso; Maselli, Alessandro; Macchi, Claudio; Dalmiani, Sofia; Davalli, Angelo; Gruppioni, Emanuele; Trigili, Emilio; Crea, Simona; Vitiello, Nicola | An Underactuated Active Transfemoral Prosthesis With Series Elastic Actuators Enables Multiple Locomotion Tasks | IEEE TRANSACTIONS ON ROBOTICS | Powered prostheses; series elastic actuator (SEA); underactuation; wearable robotics | Robotic lower limb prostheses have the power to revolutionize mobility by enhancing gait efficiency and facilitating movement. While several design approaches have been explored to create lightweight and energy-efficient devices, the potential of underactuation remains largely untapped in lower limb prosthetics. Taking inspiration from the natural harmony of walking, in this article, we have developed an innovative active transfemoral prosthesis. By incorporating underactuation, our design uses a single power actuator placed near the knee joint and connected to a differential mechanism to drive both the knee and ankle joints. We conduct comprehensive benchtop tests and evaluate the prosthesis with three individuals who have above-knee amputations, assessing its performance in walking, stair climbing, and transitions between sitting and standing. Our evaluation focuses on gathering position and torque data recorded from sensors integrated into the prosthesis and comparing these measurements to biomechanical data of able-bodied locomotion. Our findings highlight the promise of underactuation in advancing lower limb prosthetics and demonstrate the feasibility of our knee-ankle underactuated design in various tasks, showcasing its ability to replicate natural movement. | [Fagioli, Ilaria; Baldoni, Andrea; Mazzarini, Alessandro; Dell'Agnello, Filippo; Eken, Huseyin; Papapicco, Vito; Ciapetti, Tommaso; Dalmiani, Sofia; Trigili, Emilio] Scuola Super Sant Anna, BioRobot Inst, I-56025 Pontedera, Italy; [Fagioli, Ilaria; Baldoni, Andrea; Mazzarini, Alessandro; Dell'Agnello, Filippo; Crea, Simona; Vitiello, Nicola] Scuola Super Sant Anna, Dept Excellence Robot & AI, I-56127 Pisa, Italy; [Lanotte, Francesco] BioRobot Inst, I-56025 Pontedera, Pisa, Italy; [Lanotte, Francesco] Technol & Innovat Hub tiHUB, ShirleyRyan AbilityLab, Chicago, IL 60611 USA; [Lanotte, Francesco] Max Nader Lab Rehabil Technol & Outcomes Res, ShirleyRyan AbilityLab, Chicago, IL 60611 USA; [Fiumalbi, Tommaso; Papapicco, Vito] Scuola Super Sant Anna, BioRobot Inst, I-56025 Pontedera, Italy; [Crea, Simona] IUVO Srl, I-56025 Pontedera, Pisa, Italy | Scuola Superiore Sant'Anna; Scuola Superiore Sant'Anna; Scuola Superiore Sant'Anna | Fagioli, I (corresponding author), Scuola Super Sant Anna, BioRobot Inst, I-56025 Pontedera, Italy. | Istituto Nazionale per l'Assicurazione Contro gli Infortunisul Lavoro (INAIL), within the MOTU and MOTU++Projects | 1 | 2024 | 10.1109/TRO.2024.3415228 | http://dx.doi.org/10.1109/TRO.2024.3415228 | |
28 | J | Tran, M; Gabert, L; Lenzi, T | Tran, Minh; Gabert, Lukas; Lenzi, Tommaso | Analysis and Validation of Sensitivity in Torque-Sensitive Actuators | ACTUATORS | torque-sensitive actuator; variable transmission; compliant actuator; robotics; prosthetics; legged locomotion | 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. | [Tran, Minh; Gabert, Lukas; Lenzi, Tommaso] Univ Utah, Robot Ctr, Dept Mech Engn, Salt Lake City, UT 84112 USA; [Gabert, Lukas; Lenzi, Tommaso] Rocky Mt Ctr Occupat & Environm Hlth, Salt Lake City, UT 84111 USA; [Lenzi, Tommaso] Univ Utah, Dept Biomed Engn, Salt Lake City, UT 84112 USA | Utah System of Higher Education; University of Utah; Utah System of Higher Education; University of Utah | Lenzi, T (corresponding author), Univ Utah, Robot Ctr, Dept Mech Engn, Salt Lake City, UT 84112 USA.;Lenzi, T (corresponding author), Rocky Mt Ctr Occupat & Environm Hlth, Salt Lake City, UT 84111 USA.;Lenzi, T (corresponding author), Univ Utah, Dept Biomed Engn, Salt Lake City, UT 84112 USA. | 2 | FEB | 2023 | 10.3390/act12020080 | http://dx.doi.org/10.3390/act12020080 | |
29 | J | Sashenkov, SL; Panasenko, AN; Episheva, AA; Merkulyev, FV; Burnashov, YV; Piskaev, AA | Sashenkov, S. L.; Panasenko, A. N.; Episheva, A. A.; Merkulyev, F. V.; Burnashov, Ya. V.; Piskaev, A. A. | ANALYSIS OF OPPORTUNITIES FOR THE DEVELOPMENT OF A BRAND-NEW PROSTHETIC FOOT | HUMAN SPORT MEDICINE | ankle prosthesis; composite material; design; carbon fibers; nylon | Aim. To identify opportunities for the development of a brand-new prosthetic foot. Materials and methods. Based on the data from Scopus, Web of Science, and Google Scholar, the paper provides a review of modern approaches to prosthetic design. Attention was focused on production technologies, materials, and scientific approaches that reduce the price of the finished product while preserving its consumer properties. Results. Before 2000, the SACH foot (Solid Ankle Cushion Heel) was mainly used for restoring vertical balance and basic gait patterns and was provided as a simple construction made of wood or plastic and surrounded by compressed urethane foam. The SACH technology evolved into ESR (EnergyStoring -and -Returning), including early ESR, advanced ESR, and articulated ESR. Starting in the 00s, bionic feet and active/hybrid adaptive foot prostheses have been actively developed. The most promising field of study, in our opinion, is further improvement of ESR prostheses through constructive changes (such as imitation of toes), the search for low-cost alternatives to carbon -fiber -reinforced polymers (nylon 3D printing with carbon fiber -reinforced nylon), prosthesis customization (one -keel or multi -keel prostheses). Conclusion. The most promising way to improve consumer properties and reduce costs is through the development of new approaches to prosthetic design. Scientific and technological foundations should be formed with respect to the principles of personified medicine and using composite materials that provide parameters close to a healthy foot. | [Sashenkov, S. L.] South Ural State Med Univ, Chelyabinsk, Russia; [Panasenko, A. N.] Irkutsk State Transport Univ, Irkutsk, Russia; [Episheva, A. A.; Merkulyev, F. V.; Burnashov, Ya. V.; Piskaev, A. A.] South Ural State Univ, Chelyabinsk, Russia | South Ural State Medical University; Irkutsk State Transport University; South Ural State University | Sashenkov, SL (corresponding author), South Ural State Med Univ, Chelyabinsk, Russia. | 0 | 2023 | 10.14529/hsm230419 | http://dx.doi.org/10.14529/hsm230419 | ||
30 | J | Song, CY; Chen, C; Lv, Y; Zhang, W; Zhang, XX; Xu, J | Song, Chaoyu; Chen, Chao; Lv, Yang; Zhang, Wen; Zhang, Xiaoxu; Xu, Jian | Attention-Inspired Path Prediction and Adaptive Obstacle Perception Architecture for Powered Lower-Limb Prostheses | IEEE SENSORS JOURNAL | Prosthetics; Estimation; Cameras; Legged locomotion; Visual odometry; Sensors; Location awareness; Object detection; Load modeling; Computational modeling; Inertial measurement unit (IMU); lower-limb prosthesis; obstacle perception; path prediction; RGB-D camera | Path prediction and obstacle perception are crucial intelligence capabilities for powered lower-limb prostheses (PLLPs). These capabilities enable the devices to understand the amputee's movement intentions and the walking environment, thereby enhancing the navigation abilities of PLLPs. However, it is challenging for PLLPs to achieve ideal navigation performance by relying solely on force/motion sensors. The human vision system can quickly perceive and focus on obstacles during locomotion and conduct obstacle analysis, demonstrating the potential application of vision sensors in PLLPs' navigation. This article reports an attention-inspired path prediction and adaptive obstacle perception architecture (AI-PPOPA). The architecture consists of four modules: visual odometry, object detection, path prediction, and obstacle information estimation, which enables PLLPs to realize path prediction, obstacle perception and information estimation, and real-time obstacle localization. We deployed the system on the Nvidia Jetson AGX Orin for experimental testing. The experimental results indicate that the RMSE for the distance estimation accuracy for small obstacles ranges from as high as 2.81 +/- 1.06 cm to as low as 4.98 +/- 1.58 cm, while for medium obstacles, it ranges from as high as 4.62 +/- 1.11 cm to as low as 5.46 +/- 3.45 cm. Additionally, processing images at 84 ms per image demonstrates its capability for real-time control and improves the adaptability of PLLPs in complex terrain, allowing the amputee to walk more safely. | [Song, Chaoyu; Chen, Chao; Lv, Yang; Zhang, Wen; Xu, Jian] Fudan Univ, Acad Engn & Technol, Shanghai 200433, Peoples R China; [Zhang, Xiaoxu] Fudan Univ, Acad Engn & Technol, MOE Frontiers Ctr Brain Sci, Shanghai 200433, Peoples R China; [Zhang, Xiaoxu] Fudan Univ, Yiwu Res Inst, Yiwu 322000, Peoples R China | Fudan University; Fudan University; Fudan University | Zhang, XX (corresponding author), Fudan Univ, Acad Engn & Technol, MOE Frontiers Ctr Brain Sci, Shanghai 200433, Peoples R China. | National Natural Science Foundation of China (NSFC) | 0 | JUN 1 | 2025 | 10.1109/JSEN.2025.3560785 | http://dx.doi.org/10.1109/JSEN.2025.3560785 |
31 | J | Gao, SY; Yang, CX; Chen, HT; He, XQ; Ruan, LC; Wang, QN | Gao, Siyuan; Yang, Chengxu; Chen, Hongting; He, Xinqiang; Ruan, Lecheng; Wang, Qining | Bioinspired origami-based soft prosthetic knees | NATURE COMMUNICATIONS | Prosthetic knees represent a prevalent solution for above-knee amputation rehabilitation. However, satisfying the ambulation requirements of users while achieving their comfort needs in terms of lightweight, bionic, shock-absorbing, and user-centric, remains out of reach. Soft materials seem to provide alternative solutions as their properties are conducive to the comfort aspect. Unfortunately, the pronounced flexibility restricts the application of soft robots on prosthetic knees regarding morphological computation and weight-bearing performance. Here, we innovate a soft prosthetic knee for transfemoral amputees, addressing current challenges through the integration of origami technology and bioinspired weight-bearing principle, achieving its lightweight, compactness, low cost, and simple fabrication. The soft knee can hold the weight of a human (more than 75 kg), perform biomimetic polycentric flexion, absorb impacts during walking (absorbing 11.5% to 17.3% more impact forces), and actively support amputees to walk across ramps, stairs, and obstacles. The efficacy of the proposed design has been corroborated through bench-top and ambulation experiments. The proposal might lead to a paradigm shift in the lower limb prosthetic design. | [Gao, Siyuan; Chen, Hongting; Ruan, Lecheng; Wang, Qining] Peking Univ, Coll Engn, Dept Adv Mfg & Robot, Beijing, Peoples R China; [Gao, Siyuan; Wang, Qining] Peking Univ, Inst Artificial Intelligence, Beijing, Peoples R China; [Gao, Siyuan; Chen, Hongting; Wang, Qining] Beijing Engn Res Ctr Intelligent Rehabil Engn, Beijing, Peoples R China; [Yang, Chengxu; Wang, Qining] Univ Hlth & Rehabil Sci, Qingdao, Peoples R China; [He, Xinqiang] Peking Univ, Sch Life Sci, State Key Lab Prot & Plant Gene Res, Beijing, Peoples R China | Peking University; Peking University; University of Health & Rehabilitation Sciences; Peking University | Wang, QN (corresponding author), Peking Univ, Coll Engn, Dept Adv Mfg & Robot, Beijing, Peoples R China.;Wang, QN (corresponding author), Peking Univ, Inst Artificial Intelligence, Beijing, Peoples R China.;Wang, QN (corresponding author), Beijing Engn Res Ctr Intelligent Rehabil Engn, Beijing, Peoples R China.;Wang, QN (corresponding author), Univ Hlth & Rehabil Sci, Qingdao, Peoples R China. | National Natural Science Foundation of China (NSFC) | 0 | DEC 30 | 2024 | 10.1038/s41467-024-55201-1 | http://dx.doi.org/10.1038/s41467-024-55201-1 | |
32 | J | Hunt, GR; Hood, S; Gabert, L; Lenzi, T | Hunt, Grace R.; Hood, Sarah; Gabert, Lukas; Lenzi, Tommaso | Can a powered knee-ankle prosthesis improve weight-bearing symmetry during stand-to-sit transitions in individuals with above-knee amputations? | JOURNAL OF NEUROENGINEERING AND REHABILITATION | Powered prosthetics; Sit-down; Transfemoral; Amputee; Wearable robotics; Knee-ankle prosthesis | BackgroundAfter above-knee amputation, the missing biological knee and ankle are replaced with passive prosthetic devices. Passive prostheses are able to dissipate limited amounts of energy using resistive damper systems during negative energy tasks like sit-down. However, passive prosthetic knees are not able to provide high levels of resistance at the end of the sit-down movement when the knee is flexed, and users need the most support. Consequently, users are forced to over-compensate with their upper body, residual hip, and intact leg, and/or sit down with a ballistic and uncontrolled movement. Powered prostheses have the potential to solve this problem. Powered prosthetic joints are controlled by motors, which can produce higher levels of resistance at a larger range of joint positions than passive damper systems. Therefore, powered prostheses have the potential to make sitting down more controlled and less difficult for above-knee amputees, improving their functional mobility.MethodsTen individuals with above-knee amputations sat down using their prescribed passive prosthesis and a research powered knee-ankle prosthesis. Subjects performed three sit-downs with each prosthesis while we recorded joint angles, forces, and muscle activity from the intact quadricep muscle. Our main outcome measures were weight-bearing symmetry and muscle effort of the intact quadricep muscle. We performed paired t-tests on these outcome measures to test for significant differences between passive and powered prostheses.ResultsWe found that the average weight-bearing symmetry improved by 42.1% when subjects sat down with the powered prosthesis compared to their passive prostheses. This difference was significant (p = 0.0012), and every subject's weight-bearing symmetry improved when using the powered prosthesis. Although the intact quadricep muscle contraction differed in shape, neither the integral nor the peak of the signal was significantly different between conditions (integral p > 0.01, peak p > 0.01).ConclusionsIn this study, we found that a powered knee-ankle prosthesis significantly improved weight-bearing symmetry during sit-down compared to passive prostheses. However, we did not observe a corresponding decrease in intact-limb muscle effort. These results indicate that powered prosthetic devices have the potential to improve balance during sit-down for individuals with above-knee amputation and provide insight for future development of powered prosthetics. | [Hunt, Grace R.; Hood, Sarah; Gabert, Lukas; Lenzi, Tommaso] Univ Utah, Dept Mech Engn, Salt Lake City, UT 84112 USA; [Gabert, Lukas; Lenzi, Tommaso] Rocky Mt Ctr Occupat & Environm Hlth, Salt Lake City, UT USA | Utah System of Higher Education; University of Utah | Hunt, GR (corresponding author), Univ Utah, Dept Mech Engn, Salt Lake City, UT 84112 USA. | National Institutes of Health (NIH) | 4 | MAY 2 | 2023 | 10.1186/s12984-023-01177-w | http://dx.doi.org/10.1186/s12984-023-01177-w |
33 | J | Kelly, DJ; Wensing, PM | Kelly, David J.; Wensing, Patrick M. | Center of mass kinematic reconstruction during steady-state walking using optimized template models | PLOS ONE | Template models, such as the Bipedal Spring-Loaded Inverted Pendulum and the Virtual Pivot Point, have been widely used as low-dimensional representations of the complex dynamics in legged locomotion. Despite their ability to qualitatively match human walking characteristics like M-shaped ground reaction force (GRF) profiles, they often exhibit discrepancies when compared to experimental data, notably in overestimating vertical center of mass (CoM) displacement and underestimating gait event timings (touchdown/ liftoff). This paper hypothesizes that the constant leg stiffness of these models explains the majority of these discrepancies. The study systematically investigates the impact of stiffness variations on the fidelity of model fittings to human data, where an optimization framework is employed to identify optimal leg stiffness trajectories. The study also quantifies the effects of stiffness variations on salient characteristics of human walking (GRF profiles and gait event timing). The optimization framework was applied to 24 subjects walking at 40% to 145% preferred walking speed (PWS). The findings reveal that despite only modifying ground forces in one direction, variable leg stiffness models exhibited a >80% reduction in CoM error across both the B-SLIP and VPP models, while also improving prediction of human GRF profiles. However, the accuracy of gait event timing did not consistently show improvement across all conditions. The resulting stiffness profiles mimic walking characteristics of ankle push-off during double support and reduced CoM vaulting during single support. | [Kelly, David J.; Wensing, Patrick M.] Univ Notre Dame, Aerosp & Mech Engn Dept, Notre Dame, IN 46556 USA | University of Notre Dame | Kelly, DJ (corresponding author), Univ Notre Dame, Aerosp & Mech Engn Dept, Notre Dame, IN 46556 USA. | National Science Foundation (NSF) | 0 | NOV 5 | 2024 | 10.1371/journal.pone.0313156 | http://dx.doi.org/10.1371/journal.pone.0313156 | |
34 | J | Azocar, AF; Rouse, EJ | Azocar, Alejandro F.; Rouse, Elliott J. | Characterization of Open-loop Impedance Control and Efficiency in Wearable Robots | IEEE ROBOTICS AND AUTOMATION LETTERS | Impedance; Torque; Actuators; Robots; Sensors; Brushless motors; Damping; Mechanical impedance; actuators; system identification; control; robotics | Wearable robots, such as bionic prostheses and exoskeletons, have been conventionally designed with low-torque, high-speed motors and high transmission ratios; however, recently designers are increasingly implementing high-torque, low-speed motors with lower transmission ratios. These motors were popularized by the drone industry and have transitioned to general use in robotics for their improved output impedance, efficiency, and lower audible noise. Due to the relative newness of these motors, there is a lack of information regarding how transmission dynamics affect the desired output impedance. In this study, we developed system identification techniques to characterize the output impedance (stiffness and damping) of these actuators operating without torque feedback, termed open-loop impedance control, a common control strategy employed in wearable robotics. Open-loop stiffness errors reached up to 42%, but could be reduced to 2.9% using a linear model based on our characterization. Second, we characterized the total efficiency across various power regimes, during both positive and negative work, and measured an average positive efficiency of 65%. With these characterization experiments, we are able to better compensate for transmission losses, render more accurate impedance control, and operate actuators more efficiently. This work provides performance benchmarks and context for existing wearable robotic systems that implement similar open-loop control strategies. | [Azocar, Alejandro F.; Rouse, Elliott J.] Univ Michigan, Dept Mech Engn, Ann Arbor, MI 48109 USA; Univ Michigan, Robot Inst, Ann Arbor, MI 48109 USA; Univ Michigan, Neurobion Lab, Ann Arbor, MI 48109 USA | University of Michigan System; University of Michigan; University of Michigan System; University of Michigan; University of Michigan System; University of Michigan | Rouse, EJ (corresponding author), Univ Michigan, Dept Mech Engn, Ann Arbor, MI 48109 USA. | National Science Foundation (NSF) | 13 | APR | 2022 | 10.1109/LRA.2022.3150523 | http://dx.doi.org/10.1109/LRA.2022.3150523 |
35 | J | Joos, Y; Sergeant, P; Vansompel, H; Verstraten, T | Joos, Yentl; Sergeant, Peter; Vansompel, Hendrik; Verstraten, Tom | Comparison of Drivetrain Topologies for an Ankle Gait Cycle | MACHINES | ankle gait cycle; high torque-low speed actuation; dual-motor actuation; optimization; finite-element; drivetrains; permanent magnet motor; legged locomotion; prosthesis actuation | Powered prosthesis actuation is a field where energy efficiency and mass are important characteristics. The motion requirements of high torque at low speed and low torque at high speed are difficult to effectively combine in a single electric motor. A possibility is to use an oversized direct-drive motor that can deliver the peak torque. However, this results in a heavy actuation system and low overall efficiency. A common practice is combining a smaller electric motor with a gear reduction system. In the literature, novel redundant electric actuation systems have been presented with or without locking mechanisms to mitigate this problem. In this work, we provide a comparison of multiple electrical actuation systems composed of electric motors, gear reduction systems and locking mechanisms. This is done using the gait cycle of a human ankle as a case study. An electric motor with a double stator and a single rotor combined with a gearbox shows the most promising overall results when taking energy loss, total mass and complexity of the system into account. | [Joos, Yentl; Sergeant, Peter; Vansompel, Hendrik] Univ Ghent, Dept Electromech Syst & Met Engn, B-9000 Ghent, Belgium; [Joos, Yentl; Sergeant, Peter; Vansompel, Hendrik] Univ Ghent, FlandersMake, Corelab EEDT MP, B-3001 Leuven, Belgium; [Verstraten, Tom] Vrije Univ Brussel, Robot & Multibody Mech Res Grp R&MM, Flanders Make, B-1050 Brussels, Belgium | Ghent University; Ghent University; Vrije Universiteit Brussel | Sergeant, P (corresponding author), Univ Ghent, Dept Electromech Syst & Met Engn, B-9000 Ghent, Belgium.;Sergeant, P (corresponding author), Univ Ghent, FlandersMake, Corelab EEDT MP, B-3001 Leuven, Belgium. | Research Foundation-Flanders (FWO)(FWO) | 0 | JAN | 2023 | 10.3390/machines11010023 | http://dx.doi.org/10.3390/machines11010023 |
36 | J | Mendez, J; Murray, R; Gabert, L; Fey, NP; Liu, HH; Lenzi, T | Mendez, Joel; Murray, Rosemarie; Gabert, Lukas; Fey, Nicholas P.; Liu, Honghai; Lenzi, Tommaso | Continuous A-Mode Ultrasound-Based Prediction of Transfemoral Amputee Prosthesis Kinematics Across Different Ambulation Tasks | IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING | Ultrasonic imaging; Sensors; Prosthetics; Task analysis; Legged locomotion; Electromyography; Sockets; A-mode ultrasound; intent recognition; joint kinematics prediction; lower-limb prosthesis; transfemoral amputation | Objective: Volitional control systems for powered prostheses require the detection of user intent to operate in real life scenarios. Ambulation mode classification has been proposed to address this issue. However, these approaches introduce discrete labels to the otherwise continuous task that is ambulation. An alternative approach is to provide users with direct, voluntary control of the powered prosthesis motion. Surface electromyography (EMG) sensors have been proposed for this task, but poor signal-to-noise ratios and crosstalk from neighboring muscles limit performance. B-mode ultrasound can address some of these issues at the cost of reduced clinical viability due to the substantial increase in size, weight, and cost. Thus, there is an unmet need for a lightweight, portable neural system that can effectively detect the movement intention of individuals with lower-limb amputation. Methods: In this study, we show that a small and lightweight A-mode ultrasound system can continuously predict prosthesis joint kinematics in seven individuals with transfemoral amputation across different ambulation tasks. Features from the A-mode ultrasound signals were mapped to the user's prosthesis kinematics via an artificial neural network. Results: Predictions on testing ambulation circuit trials resulted in a mean normalized RMSE across different ambulation modes of 8.7 +/- 3.1%, 4.6 +/- 2.5%, 7.2 +/- 1.8%, and 4.6 +/- 2.4% for knee position, knee velocity, ankle position, and ankle velocity, respectively. Conclusion and Significance: This study lays the foundation for future applications of A-mode ultrasound for volitional control of powered prostheses during a variety of daily ambulation tasks. | [Mendez, Joel; Murray, Rosemarie; Gabert, Lukas; Lenzi, Tommaso] Univ Utah, Utah Robot Ctr, Dept Mech Engn, Salt Lake City, UT 84112 USA; [Fey, Nicholas P.] Univ Texas Austin, Walker Dept Mech Engn, Austin, TX USA; [Liu, Honghai] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin, Peoples R China; [Liu, Honghai] Univ Portsmouth, Sch Comp, Portsmouth, England | Utah System of Higher Education; University of Utah; University of Texas System; University of Texas Austin; Harbin Institute of Technology; University of Portsmouth | Mendez, J (corresponding author), Univ Utah, Utah Robot Ctr, Dept Mech Engn, Salt Lake City, UT 84112 USA. | National Institutes of Health (NIH) | 5 | JAN | 2024 | 10.1109/TBME.2023.3292032 | http://dx.doi.org/10.1109/TBME.2023.3292032 |
37 | J | Bhakta, K; Maldonado-Contreras, J; Camargo, J; Zhou, SX; Compton, W; Herrin, KR; Young, AJ | Bhakta, Krishan; Maldonado-Contreras, Jairo; Camargo, Jonathan; Zhou, Sixu; Compton, William; Herrin, Kinsey R.; Young, Aaron J. | Continuous-Context, User-Independent, Real-Time Intent Recognition for Powered Lower-Limb Prostheses | JOURNAL OF BIOMECHANICAL ENGINEERING-TRANSACTIONS OF THE ASME | intent recognition; machine learning; powered prosthetics; real-time control; wearable robotics | Community ambulation is essential for maintaining a healthy lifestyle, but it poses significant challenges for individuals with limb loss due to complex task demands. In wearable robotics, particularly powered prostheses, there is a critical need to accurately estimate environmental context, such as walking speed and slope, to offer intuitive and seamless assistance during varied ambulation tasks. We developed a user-independent and multicontext, intent recognition system that was deployed in real-time on an Open Source Leg (OSL). We recruited 11 individuals with transfemoral amputation, with seven participants used for real-time validation. Our findings revealed two main conclusions: (1) the user-independent (IND) performance across speed and slope was not statistically different from user-dependent (DEP) models in real-time and did not degrade compared to its offline counterparts, and (2) IND walking speed estimates showed similar to 0.09 m/s mean absolute error (MAE) and slope estimates showed similar to 0.95 deg MAE across multicontext scenarios. Additionally, we provide an open-source dataset to facilitate further research in accurately estimating speed and slope using an IND approach in real-world walking tasks on a powered prosthesis. | [Bhakta, Krishan; Maldonado-Contreras, Jairo; Zhou, Sixu; Herrin, Kinsey R.; Young, Aaron J.] Georgia Inst Technol, Woodruff Sch Mech Engn, 813 Ferst Dr NW, Atlanta, GA 30332 USA; [Maldonado-Contreras, Jairo; Zhou, Sixu; Herrin, Kinsey R.; Young, Aaron J.] Georgia Inst Technol, Inst Robot & Intelligent Machines, 813 Ferst Dr NW, Atlanta, GA 30332 USA; [Camargo, Jonathan] Univ Andes Colombia, Dept Mech Engn, Bogota 111711, Colombia; [Compton, William] CALTECH, Div Engn & Appl Sci, Pasadena, CA 91125 USA | University System of Georgia; Georgia Institute of Technology; University System of Georgia; Georgia Institute of Technology; Universidad de los Andes (Colombia); California Institute of Technology | Bhakta, K (corresponding author), Georgia Inst Technol, Woodruff Sch Mech Engn, 813 Ferst Dr NW, Atlanta, GA 30332 USA. | Office of the Secretary of Defense; Neurobionics Lab from the University of Michigan | 1 | FEB 1 | 2025 | 10.1115/1.4067401 | http://dx.doi.org/10.1115/1.4067401 |
38 | J | Cheng, SH; Laubscher, CA; Gregg, RD | Cheng, Shihao; Laubscher, Curt A.; Gregg, Robert D. | Controlling Powered Prosthesis Kinematics Over Continuous Inter-Leg Transitions Between Walking and Stair Ascent/Descent | IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING | Legged locomotion; Prosthetics; Kinematics; Stairs; Steady-state; Switches; Biomimetics; Analytical models; Knee; Biological system modeling; biomimetics; legged locomotion; wearable robots; rehabilitation robotics | Although powered prosthetic legs have enabled more biomimetic joint kinematics during steady-state activities like walking and stair climbing, transitions between these activities are usually handled by discretely switching controllers without considering biomimicry or the distinct role of the leading leg. This study introduces two data-driven, phase-based kinematic control approaches for seamless inter-leg transitions (i.e., initiated by either the prosthetic or intact leg) between walking and stair ascent/descent, assuming high-level knowledge of the upcoming activity. One approach employs a novel continuously-varying kinematic model that interpolates between steady-state activities as an approximate convex combination, and the other approach employs a simple switching-based model with optimized switching timing and tunable smoothing of kinematic discontinuities. Data-driven analysis indicates the continuously-varying controller remains beneficial over the switching controller for a range of classification delays. Experimental validation with a powered knee-ankle prosthesis used by two high-functioning transfemoral amputees demonstrates the continuous controller can provide more biomimetic and uninterrupted kinematic trajectories for both joints during transitions, irrespective of the initiating leg. This research underscores the potential for enabling more natural locomotion for high-functioning prosthetic leg users. | [Cheng, Shihao; Laubscher, Curt A.; Gregg, Robert D.] Univ Michigan, Dept Robot, Ann Arbor, MI 48109 USA | University of Michigan System; University of Michigan | Gregg, RD (corresponding author), Univ Michigan, Dept Robot, Ann Arbor, MI 48109 USA. | National Institutes of Health (NIH) | 1 | 2024 | 10.1109/TNSRE.2024.3485643 | http://dx.doi.org/10.1109/TNSRE.2024.3485643 | |
39 | J | Nizamis, K; Athanasiou, A; Almpani, S; Dimitrousis, C; Astaras, A | Nizamis, Kostas; Athanasiou, Alkinoos; Almpani, Sofia; Dimitrousis, Christos; Astaras, Alexander | Converging Robotic Technologies in Targeted Neural Rehabilitation: A Review of Emerging Solutions and Challenges | SENSORS | artificial intelligence; brain-computer interfaces; exoskeleton; human-robot interaction; neurological disability; neurorehabilitation; robotics; neural interfaces | Recent advances in the field of neural rehabilitation, facilitated through technological innovation and improved neurophysiological knowledge of impaired motor control, have opened up new research directions. Such advances increase the relevance of existing interventions, as well as allow novel methodologies and technological synergies. New approaches attempt to partially overcome long-term disability caused by spinal cord injury, using either invasive bridging technologies or noninvasive human-machine interfaces. Muscular dystrophies benefit from electromyography and novel sensors that shed light on underlying neuromotor mechanisms in people with Duchenne. Novel wearable robotics devices are being tailored to specific patient populations, such as traumatic brain injury, stroke, and amputated individuals. In addition, developments in robot-assisted rehabilitation may enhance motor learning and generate movement repetitions by decoding the brain activity of patients during therapy. This is further facilitated by artificial intelligence algorithms coupled with faster electronics. The practical impact of integrating such technologies with neural rehabilitation treatment can be substantial. They can potentially empower nontechnically trained individuals-namely, family members and professional carers-to alter the programming of neural rehabilitation robotic setups, to actively get involved and intervene promptly at the point of care. This narrative review considers existing and emerging neural rehabilitation technologies through the perspective of replacing or restoring functions, enhancing, or improving natural neural output, as well as promoting or recruiting dormant neuroplasticity. Upon conclusion, we discuss the future directions for neural rehabilitation research, diagnosis, and treatment based on the discussed technologies and their major roadblocks. This future may eventually become possible through technological evolution and convergence of mutually beneficial technologies to create hybrid solutions. | [Nizamis, Kostas] Univ Twente, Dept Design Prod & Management, NL-7522 NB Enschede, Netherlands; [Athanasiou, Alkinoos; Astaras, Alexander] Aristotle Univ Thessaloniki, Sch Med, Lab Med Phys, Fac Hlth Sci, Thessaloniki 54124, Greece; [Almpani, Sofia] Natl Tech Univ Athens, Sch Elect & Comp Engn, Athens 15773, Greece; [Dimitrousis, Christos; Astaras, Alexander] Amer Coll Thessaloniki, Dept Comp Sci, Thessaloniki 55535, Greece | University of Twente; Aristotle University of Thessaloniki; National Technical University of Athens | Nizamis, K (corresponding author), Univ Twente, Dept Design Prod & Management, NL-7522 NB Enschede, Netherlands. | COST Action Wearable Robots for augmentation, assistance or substitution of human motor functions; EUROSPINE TFR | 43 | MAR | 2021 | 10.3390/s21062084 | http://dx.doi.org/10.3390/s21062084 |
40 | C | Bolívar-Nieto, EA; Thomas, GC; Rouse, E; Gregg, RD | Bolivar-Nieto, Edgar A.; Thomas, Gray C.; Rouse, Elliott; Gregg, Robert D. | Convex Optimization for Spring Design in Series Elastic Actuators: From Theory to Practice | 2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | Natural dynamics, nonlinear optimization, and, more recently, convex optimization are available methods for stiffness design of energy-efficient series elastic actuators. Natural dynamics and general nonlinear optimization only work for a limited set of load kinetics and kinematics, cannot guarantee convergence to a global optimum, or depend on initial conditions to the numerical solver. Convex programs alleviate these limitations and allow a global solution in polynomial time, which is useful when the space of optimization variables grows (e.g., when designing optimal nonlinear springs or co-designing spring, controller, and reference trajectories). Our previous work introduced the stiffness design of series elastic actuators via convex optimization when the transmission dynamics are negligible, which is an assumption that applies mostly in theory or when the actuator uses a direct or quasi-direct drive. In this work, we extend our analysis to include friction at the transmission. Coulomb friction at the transmission results in a non-convex expression for the energy dissipated as heat, but we illustrate a convex approximation for stiffness design. We experimentally validated our framework using a series elastic actuator with specifications similar to the knee joint of the Open Source Leg, an open-source robotic knee-ankle prosthesis. | [Bolivar-Nieto, Edgar A.; Thomas, Gray C.; Gregg, Robert D.] Univ Michigan, Elect Engn & Comp Sci Dept, Ann Arbor, MI 48109 USA; [Rouse, Elliott] Univ Michigan, Mech Engn Dept, Ann Arbor, MI 48109 USA; [Bolivar-Nieto, Edgar A.; Thomas, Gray C.; Rouse, Elliott; Gregg, Robert D.] Univ Michigan, Robot Inst, Ann Arbor, MI 48109 USA | University of Michigan System; University of Michigan; University of Michigan System; University of Michigan; University of Michigan System; University of Michigan | Bolívar-Nieto, EA (corresponding author), Univ Michigan, Elect Engn & Comp Sci Dept, Ann Arbor, MI 48109 USA. | National Science Foundation (NSF) | 2 | 2021 | 10.1109/IROS51168.2021.9636427 | http://dx.doi.org/10.1109/IROS51168.2021.9636427 | ||
41 | J | Cortino, RJ; Best, TK; Gregg, RD | Cortino, Ross J.; Best, T. Kevin; Gregg, Robert D. | Data-Driven Phase-Based Control of a Powered Knee-Ankle Prosthesis for Variable-Incline Stair Ascent and Descent | IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS | Stairs; Impedance; Kinematics; Tuning; Legged locomotion; Knee; Biomimetics; Prosthetics; impedance control; optimization | Powered knee-ankle prostheses can offer benefits over conventional passive devices during stair locomotion by providing biomimetic net-positive work and active control of joint angles. However, many modern control approaches for stair ascent and descent are often limited by time-consuming hand-tuning of user/task-specific parameters, predefined trajectories that remove user volition, or heuristic approaches that cannot be applied to both stair ascent and descent. This work presents a phase-based hybrid kinematic and impedance controller (HKIC) that allows for semi-volitional, biomimetic stair ascent and descent at a variety of step heights. We define a unified phase variable for both stair ascent and descent that utilizes lower-limb geometry to adjust to different users and step heights. We extend our prior data-driven impedance model for variable-incline walking, modifying the cost function and constraints to create a continuously-varying impedance parameter model for stair ascent and descent over a continuum of step heights. Experiments with above-knee amputee participants ( $\text{N}=$ 2) validate that our HKIC controller produces biomimetic ascent and descent joint kinematics, kinetics, and work across four step height configurations. We also show improved kinematic performance with our HKIC controller in comparison to a passive microprocessor-controlled device during stair locomotion. | [Cortino, Ross J.; Best, T. Kevin; Gregg, Robert D.] Univ Michigan, Dept Robot, Ann Arbor, MI 48109 USA | University of Michigan System; University of Michigan | Cortino, RJ (corresponding author), Univ Michigan, Dept Robot, Ann Arbor, MI 48109 USA. | National Institutes of Health (NIH) | 13 | FEB | 2024 | 10.1109/TMRB.2023.3328656 | http://dx.doi.org/10.1109/TMRB.2023.3328656 |
42 | J | Best, TK; Welker, CG; Rouse, EJ; Gregg, RD | Best, T. Kevin; Welker, Cara Gonzalez; Rouse, Elliott J.; Gregg, Robert D. | Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Adaptive Speed and Incline Walking | IEEE TRANSACTIONS ON ROBOTICS | Impedance; Task analysis; Legged locomotion; Kinematics; Mathematical models; Biological system modeling; Torque; Impedance control; optimization; prostheses | Most impedance-based walking controllers for powered knee-ankle prostheses use a finite state machine with dozens of user-specific parameters that require manual tuning by technical experts. These parameters are only appropriate near the task (e.g., walking speed and incline) at which they were tuned, necessitating many different parameter sets for variable-task walking. In contrast, this article presents a data-driven, phase-based controller for variable-task walking that uses continuously variable impedance control during stance and kinematic control during swing to enable biomimetic locomotion. After generating a data-driven model of variable joint impedance with convex optimization, we implement a novel task-invariant phase variable and real-time estimates of speed and incline to enable autonomous task adaptation. Experiments with above-knee amputee participants (N = 2) show that our data-driven controller 1) features highly linear phase estimates and accurate task estimates, 2) produces biomimetic kinematic and kinetic trends as task varies, leading to low errors relative to able-bodied references, and 3) produces biomimetic joint work and cadence trends as task varies. We show that the presented controller meets and often exceeds the performance of a benchmark finite state machine controller for our two participants, without requiring manual impedance tuning. | [Best, T. Kevin; Rouse, Elliott J.; Gregg, Robert D.] Univ Michigan, Robot Dept, Ann Arbor, MI 48109 USA; [Welker, Cara Gonzalez] Univ Colorado Boulder, Mech Engn Dept, Boulder, CO 80309 USA; [Welker, Cara Gonzalez] Univ Colorado Boulder, Biomed Engn Program, Boulder, CO 80309 USA | University of Michigan System; University of Michigan; University of Colorado System; University of Colorado Boulder; University of Colorado System; University of Colorado Boulder | Gregg, RD (corresponding author), Univ Michigan, Robot Dept, Ann Arbor, MI 48109 USA. | National Institutes of Health (NIH) | 48 | JUN | 2023 | 10.1109/TRO.2022.3226887 | http://dx.doi.org/10.1109/TRO.2022.3226887 |
43 | J | Kim, M; Hargrove, LJ | Kim, Minjae; Hargrove, Levi J. | Deep-Learning to Map a Benchmark Dataset of Non-Amputee Ambulation for Controlling an Open Source Bionic Leg | IEEE ROBOTICS AND AUTOMATION LETTERS | Deep learning methods; prosthetics and exoskeletons | Powered lower-limb prosthetic devices may be becoming a promising option for amputation patients. Although various methods have been proposed to produce gait trajectories similar to those of non-disabled individuals, implementing these control methods is still challenging. It remains unclear whether these methods provide appropriate, safe, and intuitive locomotion as intended. This letter proposes the direct mapping of the voluntary movement of a residual limb (i.e., thigh) to the desired impedance parameters for amputated limbs (i.e., knee and ankle). The proposed model was learned from the gait trajectories of intact limb individuals from a publicly available biomechanics dataset, and was applied to control the prosthetic leg without post-tuning the network. Thus, the proposed method does not require training time with individuals with amputation nor configuration time for its use, and it provides a closely resembling gait trajectory of the intact limb. For preliminary testing, three able-bodied subjects participated in bypass tests. The proposed model accomplished intuitive and reliable level-ground walking at three different step lengths: self-selected, long-, and short-step lengths. The results indicate that intact benchmark data with different sensor configurations can be directly used to train the model to control prosthetic legs. | [Kim, Minjae; Hargrove, Levi J.] Northwestern Univ, Dept Phys Med & Rehabil, Chicago, IL 60611 USA; [Kim, Minjae; Hargrove, Levi J.] Regenstein Ctr Bion Med, Shirley Ryan AbilityLab, Chicago, IL 60611 USA | Northwestern University; Shirley Ryan AbilityLab | Hargrove, LJ (corresponding author), Northwestern Univ, Dept Phys Med & Rehabil, Chicago, IL 60611 USA. | National Institutes of Health (NIH) | 4 | OCT | 2022 | 10.1109/LRA.2022.3194323 | http://dx.doi.org/10.1109/LRA.2022.3194323 |
44 | J | Bartlett, HL; King, ST; Goldfarb, M; Lawson, BE | Bartlett, Harrison Logan; King, Shane T.; Goldfarb, Michael; Lawson, Brian Edward | Design and Assist-As-Needed Control of a Lightly Powered Prosthetic Knee | IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS | Prostheses; amputation; design; control; knee; biomechanics | This paper presents the design of a swing-assist prosthetic knee capable of providing stabilizing passive torques during the stance phase of walking and supplementing the passive swing phase behavior of the prosthetic knee with small active torques. The prosthesis design utilizes a novel actuator which integrates a symmetric multi-chamber hydraulic cylinder and a highly backdrivable linear electromechanical drive system into a single compact package. This actuator is implemented in a self-contained prosthesis design (including batteries and embedded system) which weighs 1.7 kg and is 28 cm in length, making this design comparable in size/mass to commercially available microprocessor-controlled prosthetic knees. The device is controlled using a finite state machine with a novel assist-as-needed controller operating during the swing phase. This assist-as-needed controller supplements a nominally passive swing phase behavior with small amounts of active power to enhance user safety. The device and controller were assessed on a single participant who took part in level ground walking experiments with both the swing-assist prosthesis and his daily-use device. Results indicate that the swing-assist prosthesis increases maximum swing phase knee flexion angle relative to the subject's daily-use device. Furthermore, the swing-assist prosthesis was shown to automatically vary its assistance across walking speeds. | [Bartlett, Harrison Logan; Lawson, Brian Edward] Synchro Mot LLC, Franklin, TN 37064 USA; [King, Shane T.; Goldfarb, Michael] Vanderbilt Univ, Mech Engn Dept, Nashville, TN 37235 USA | Vanderbilt University | Bartlett, HL (corresponding author), Synchro Mot LLC, Franklin, TN 37064 USA. | National Science Foundation (NSF) | 16 | MAY | 2022 | 10.1109/TMRB.2022.3161068 | http://dx.doi.org/10.1109/TMRB.2022.3161068 |
45 | J | Zhu, JX; Jiao, CH; Dominguez, I; Yu, SY; Su, H | Zhu, Junxi; Jiao, Chunhai; Dominguez, Israel; Yu, Shuangyue; Su, Hao | Design and Backdrivability Modeling of a Portable High Torque Robotic Knee Prosthesis With Intrinsic Compliance for Agile Activities | IEEE-ASME TRANSACTIONS ON MECHATRONICS | Torque; Brushless DC motors; Actuators; Gears; Prosthetics; Robots; Rotors; Backdrive torque modeling; high compliance; high torque actuator; powered prosthesis; wearable robots | High-performance prostheses are crucial to enable versatile activities like walking, squatting, and running for lower extremity amputees. State-of-the-art prostheses are either not powerful enough to support demanding activities or have low compliance (low backdrivability) due to the use of high speed ratio transmission. Besides speed ratio, gearbox design is also crucial to the compliance of wearable robots, but its role is typically ignored in the design process. This article proposed an analytical backdrive torque model that accurately estimates the backdrive torque from both motor and transmission to inform the robot design. Following this model, this article also proposed methods for gear transmission design to improve compliance by reducing inertia of the knee prosthesis. We developed a knee prosthesis using a high torque actuator (built-in 9:1 planetary gear) with a customized 4:1 low-inertia planetary gearbox. Benchtop experiments show the backdrive torque model is accurate and proposed prosthesis can produce 200 Nm high peak torque (shield temperature 60 degrees C), high compliance (2.6 Nm backdrive torque), and high control accuracy (2.7/8.1/1.7 Nm RMS tracking errors for 1.25 m/s walking, 2 m/s running, and 0.25 Hz squatting, that are 5.4%/4.1%/1.4% of desired peak torques). Three able-bodied subject experiments showed our prosthesis could support agile and high-demanding activities. | [Zhu, Junxi; Jiao, Chunhai; Dominguez, Israel; Yu, Shuangyue; Su, Hao] North Carolina State Univ, Dept Mech & Aerosp Engn, Lab Biomechatron & Intelligent Robot, Raleigh, NC 27695 USA | North Carolina State University | Su, H (corresponding author), North Carolina State Univ, Dept Mech & Aerosp Engn, Lab Biomechatron & Intelligent Robot, Raleigh, NC 27695 USA. | National Institutes of Health (NIH) | 23 | AUG | 2022 | 10.1109/TMECH.2022.3176255 | http://dx.doi.org/10.1109/TMECH.2022.3176255 |
46 | C | Urs, K; Adu, CE; Rouse, EJ; Moore, TY | Urs, Karthik; Adu, Challen Enninful; Rouse, Elliott J.; Moore, Talia Y. | Design and Characterization of 3D Printed, Open-Source Actuators for Legged Locomotion | 2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | Impressive animal locomotion capabilities are mediated by the co-evolution of the skeletal morphology and muscular properties. Legged robot performance would also likely benefit from the co-optimization of actuators and leg morphology. However, development of custom actuators for legged robots is expensive and time consuming, discouraging application-specific actuator optimization. This paper presents open-source designs for two quasi-direct-drive actuators with performance regimes appropriate for an 8-15 kg robot, built from off the shelf and 3D-printed components for less than $200 USD each. The mechanical, electrical, and thermal properties of each actuator are characterized and compared to benchmark data. Actuators subjected to 420k strides of gait data experienced only a 2% reduction in efficiency and 26 mrad in backlash growth, demonstrating viability for rigorous and sustained research applications. We present a thermal solution that nearly doubles the thermally-driven torque limits of our plastic actuator design. The performance results are comparable to traditional metallic actuators for use in high-speed legged robots of the same scale. These 3D printed designs demonstrate an approach for designing and characterizing low-cost, highly customizable and reproducible actuators, democratizing the field of actuator design and enabling co-design and optimization of actuators and robot legs. | [Urs, Karthik; Adu, Challen Enninful; Rouse, Elliott J.; Moore, Talia Y.] Robotics, Ann Arbor, MI 48109 USA; [Moore, Talia Y.] Univ Michigan, Ecol & Evolutionary Biol, Ann Arbor, MI 48109 USA; [Moore, Talia Y.] Univ Michigan, Museum Zool, Ann Arbor, MI 48109 USA | University of Michigan System; University of Michigan; University of Michigan System; University of Michigan | Urs, K (corresponding author), Robotics, Ann Arbor, MI 48109 USA. | 4 | 2022 | 10.1109/IROS47612.2022.9981940 | http://dx.doi.org/10.1109/IROS47612.2022.9981940 | |||
47 | C | Luo, SL; Chen, YX; Fan, M; Yu, HL | Luo, Shengli; Chen, Yixi; Fan, Meng; Yu, Hongliu | Design and Control System of a New Hip-Knee Integrated Intelligent Prostheses | PROCEEDINGS OF THE16TH INTERNATIONAL CONVENTION ON REHABILITATION ENGINEERING AND ASSISTIVE TECHNOLOGY, I-CREATE 2023 | Hip disarticulation prostheses; Feedback control; Co-movement; hip and knee joints | Prostheses are the only means to help amputees recover their ability to walk. Traditional hip disarticulation prostheses (HDP) are primarily of passive structures, which make it extremely difficult for amputees to operate the prostheses and will develop an abnormal gait. The research exhibits a new HDP that provides amputees with a natural gait that approximates the movement patterns of the human lower limb. The double parallelogram and four-bar structure were used to restore the movement patterns of the biological hip and knee joints, respectively. In addition, we designed a feedback control algorithm for the new prosthesis based on multi-sensor information fusion to achieve joint angle tracking and control. The experimental results show that the new HDP hip and knee joint angle change trend was the same as the biological joints, and the faster the step speed, the more similar to the biological joints. Therefore, the new HDP can better restore the co-movement pattern of human lower limb joints, promising to help amputees recover their natural gait. | [Luo, Shengli; Chen, Yixi; Fan, Meng; Yu, Hongliu] Univ Shanghai Sci & Technol, Inst Rehabil Engn & Technol, Shanghai, Peoples R China | University of Shanghai for Science & Technology | Luo, SL (corresponding author), Univ Shanghai Sci & Technol, Inst Rehabil Engn & Technol, Shanghai, Peoples R China. | 0 | 2023 | 10.1145/3628228.3628487 | http://dx.doi.org/10.1145/3628228.3628487 | ||
48 | J | Vallery, H; Lachmann, F; van der Helm, S; Pennycott, A; Smit, G | Vallery, Heike; Lachmann, Frederik; van der Helm, Simon; Pennycott, Andrew; Smit, Gerwin | Design and evaluation of the pneumatic leg prosthesis ERiK to assist elderly amputees with sit-down and stand-up movements | WEARABLE TECHNOLOGIES | Knee exoprosthesis; sit-to-stand; lightweight pneumatic actuator; transfemoral amputation | Standing up using one leg is a challenging task for those with a transfemoral amputation, particularly for elderly users with a low activity level. Active prostheses are generally not accessible to this group and available passive prostheses do not support standing up. This article presents the design and evaluation of the Energy Restoring Intelligent Knee (ERiK), which stores energy during sit-down in a pneumatic cylinder and returns it during stand-up. We hypothesized that the system would reduce the time needed to perform transitions and also enable higher load sharing by the prosthetic leg. However, the results of an experimental study with seven participants with transfemoral amputation contradict these hypotheses: the participants could neither move faster nor make more use of the prosthetic leg to share their body weight during transitions. We observed that a major obstacle to the useful functionality of the leg was the absence of ankle dorsiflexion - the foot tended to slip during stand-up initiation, such that only low pre-pressures and therefore support levels could be set. The rather binary action of the pneumatics also complicated movement initiation. The lessons learned from this study may be helpful to those seeking to create better designs in the future. | [Vallery, Heike; Lachmann, Frederik; van der Helm, Simon; Pennycott, Andrew; Smit, Gerwin] Delft Univ Technol, Fac Mech Maritime & Mat Engn, Delft, Netherlands; [Vallery, Heike] Erasmus MC, Dept Rehabil Med, Rotterdam, Netherlands | Delft University of Technology; Erasmus University Rotterdam; Erasmus MC | Smit, G (corresponding author), Delft Univ Technol, Fac Mech Maritime & Mat Engn, Delft, Netherlands. | Dutch Research Council | 1 | MAY 26 | 2023 | 10.1017/wtc.2023.8 | http://dx.doi.org/10.1017/wtc.2023.8 |
49 | J | Zhu, JL; Sun, YX; Xiong, J; Liu, YY; Zheng, J; Bai, L | Zhu, Jinliang; Sun, Yuanxi; Xiong, Jie; Liu, Yiyang; Zheng, Jia; Bai, Long | Design and experiment of a variable stiffness prosthetic knee joint using parallel elastic actuation | ROBOTICS AND AUTONOMOUS SYSTEMS | Variable stiffness parallel elastic actuation; (VSPEA); Prosthetic knee; Adaptive variable stiffness control | Active prosthetic knee joints are proven to provide outstanding actuating performance in various walking situations. Currently, most active prosthetic knee joints are directly actuated via motors, which have the disadvantages of high-power consumption and insufficient joint compliance. In order to solve this problem, this paper proposed an active prosthetic knee joint with a unique variable stiffness parallel elastic actuation (VSPEA) mechanism. The VSPEA prosthetic knee joint is implemented by a geared five-bar mechanism with a motor-screw system. The VSPEA mechanism is implemented via another optimized compact motor-screw-spring system controlled by an adaptive stiffness adjustment algorithm. Numerical verifications show that the VSPEA prosthetic knee joint can reduce its actuation torque and power compared to the prosthetic knee joint without the VSPEA mechanism. Further practical experiments of the VSPEA prosthetic knee joint indicate that the Root Mean Square of its actuation motor power can decline 7.36 %, 8.75 %, and 11.51 % at 1.49 m/s, 1.21 m/s, and 0.85 m/s levelground walking, respectively, which demonstrated that VSPEA could effectively reduce the energy consumption and improve the endurance of the prosthetic knee joint. | [Zhu, Jinliang; Sun, Yuanxi; Xiong, Jie; Liu, Yiyang; Bai, Long] Chongqing Univ, State Key Lab Mech Transmiss, Chongqing 400044, Peoples R China; [Zheng, Jia] Chongqing Univ Posts & Telecommun, Sch Adv Mfg Engn, Chongqing 400065, Peoples R China | Chongqing University; Chongqing University of Posts & Telecommunications | Sun, YX (corresponding author), Chongqing Univ, State Key Lab Mech Transmiss, Chongqing 400044, Peoples R China. | National Natural Science Foundation of China (NSFC) | 5 | JAN | 2024 | 10.1016/j.robot.2023.104566 | http://dx.doi.org/10.1016/j.robot.2023.104566 |
50 | J | Ali, SM; Mahmood, SS | Ali, Saad M.; Mahmood, Shurooq S. | Design and Manufacturing of a Low-Cost Prosthetic Foot | INGENIERIA E INVESTIGACION | below- knee prosthesis; lower limb amputation; flexible multi-layered foot; ANSYS 18.0 software simulation; RSM; walking cycle stages; von Mises stress | Below-knee prosthetics are used to restore the functional activity and appearance of persons with lower limb amputation. This work attempted to design and manufacture a low-cost, novel, comfortable, lightweight, durable, and flexible smart below-knee foot prosthesis prototype. This prosthesis foot was designed according to the natural leg measurement of an adult male patient. The foot is composed of rigid PVC layers interspersed with elastic strips of PTFE, and the axis of the ankle joint is flexible and consists of metal layers and a composite of polymeric damping strips with different mechanical properties, making it flexible and allowing it to absorb shocks and store and release energy. The design, modeling, and simulation of the manufactured prosthetic foot were performed via the ANSYS 18.0 software and the finite element method (FEM), where a large number of parallel and oblique planes and sketches were created. This work included four adult patients weighing 50, 75, 90, and 120 kg with different walking cycles. The results show that the highest equivalent von Mises stress and total deformations for the prosthetic limb occur at the beginning of the walking step, while the highest equivalent elastic strains and strain energy release rates are observed at the end of the walking step, regardless of the weight. This prototype can satisfactorily perform the biomechanical functions of a natural human foot, and it can be produced in attractive sizes, models, and shapes to suit different levels of below-knee amputations for different ages and weights, especially for patients with limited income. | [Ali, Saad M.] Univ Technol Baghdad, Dept Biomed Engn, Baghdad, Iraq; [Mahmood, Shurooq S.] Al Iraqia Univ, Dept Phys, Coll Educ, Baghdad, Iraq | University of Technology- Iraq; Al-Iraqia University | Ali, SM (corresponding author), Univ Technol Baghdad, Dept Biomed Engn, Baghdad, Iraq. | 1 | DEC | 2023 | 10.15446/ing.investig.98916 | http://dx.doi.org/10.15446/ing.investig.98916 | |
51 | J | Luo, SL; Shu, XL; Zhu, HX; Yu, HL | Luo, Shengli; Shu, Xiaolong; Zhu, Hexiang; Yu, Hongliu | Design and optimization of a new integrated hip and knee prosthesis structure | ARTIFICIAL ORGANS | amputee; hip disarticulation prostheses; lower limb; optimization | Background Conventional hip disarticulation prostheses (HDPs) are passive devices with separate joint structures, limiting amputees' ability to control and resulting in abnormal gait patterns. This study introduces a new HDP integrating the hip and knee joints for amputees' natural gait.Methods The new HDP restores the physiological rotation center of the hip with a remote center of motion (RCM) structure, and simulates the knee motion with a four-bar structure. Nonlinear programming was employed to optimize the hip-knee joint structure. A hybrid multi-objective drive structure with a series-parallel connection was also designed to ensure motion synergy between the hip and knee joints. Finally, a prototype of the prosthesis was tested using the HDP test system.Results The optimization results demonstrate that the new HDP accurately restores the rotation center of the femur in amputees, with the knee's instantaneous center of rotation (ICR) trajectory closely resembling that of the human knee (Pearson correlation coefficient is 0.999). The study shows that the new HDP achieves a motion reproduction accuracy of over 95% for the human hip joint at walking speeds above 1.5 km/h, 38% higher than conventional prosthesis. Similarly, at the same walking speed, the new HDP replicates the motion of the human knee at 82.89%, surpassing conventional prosthesis by 57.85%.Conclusions The new HDP restores symmetry and replicates synergistic movement in amputees' lower limbs, exhibiting superior movement characteristics compared to conventional prostheses. This innovative HDP has the potential to enhance the quality of life for amputees. | [Luo, Shengli; Shu, Xiaolong; Zhu, Hexiang; Yu, Hongliu] Univ Shanghai Sci & Technol, Inst Rehabil Engn & Technol, Shanghai, Peoples R China; [Yu, Hongliu] Univ Shanghai Sci & Technol, Inst Rehabil Engn & Technol, Shanghai 200093, Peoples R China | University of Shanghai for Science & Technology; University of Shanghai for Science & Technology | Yu, HL (corresponding author), Univ Shanghai Sci & Technol, Inst Rehabil Engn & Technol, Shanghai 200093, Peoples R China. | I am very grateful for the help from Yixi Chen, Huafu Luo, Xin Meng and Xinwei Li in the laboratory during the experimental process, as well as for the encouragement from Dr., Jiahao Du. | 2 | JAN | 2024 | 10.1111/aor.14667 | http://dx.doi.org/10.1111/aor.14667 |
52 | C | Puliti, M; Tessari, F; Driessen, JJM; Galluzzi, R; Paravano, M; Amati, N; Tonoli, A; De Michieli, L; Laffranchi, M | Puliti, Marco; Tessari, Federico; Driessen, Josephus J. M.; Galluzzi, Renato; Paravano, Michele; Amati, Nicola; Tonoli, Andrea; De Michieli, Lorenzo; Laffranchi, Matteo | Design and Validation of a Novel Partially Powered Knee Prosthesis | 2024 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, AIM 2024 | Amputation; transfemoral; robotic prosthesis; microprocessor knee; electro-hydrostatic actuation | This work presents the design, development and validation of a partially powered knee prosthesis that enhances key features of energetically passive microprocessor-controlled knees (MPKs). We introduce a novel mechatronic architecture which combines a compact electro-hydrostatic actuation (EHA) unit with a controllable hydraulic valve. The design rationale is focused towards the support of swing-related activities and, as such, does not require large amounts of torque. Furthermore, the proposed solution retains the backdrivability properties of conventional MPKs and enhances the versatility through a highly integrated actuation unit (active and passive sides share the same motion transmission system), which may lead to improved walking capabilities. To this end, a prototype is designed, built and validated experimentally on a test bench to verify its active and passive functionalities. Results highlight comparable passive features with respect to state of the art MPKs with the possibility to inject active power at the joint to support swing related activities during level ground walking and stairs ascent tasks. | Istituto Nazionale per l'Assicurazione contro gli Infortuni sul Lavoro (INAIL) | 1 | 2024 | 10.1109/AIM55361.2024.10637063 | http://dx.doi.org/10.1109/AIM55361.2024.10637063 | ||||
53 | J | Wang, X; Xiu, HH; Zhang, Y; Liang, W; Chen, W; Wei, GW; Ren, L; Ren, LQ | Wang, Xu; Xiu, Haohua; Zhang, Yao; Liang, Wei; Chen, Wei; Wei, Guowu; Ren, Lei; Ren, Luquan | Design and Validation of a Polycentric Hybrid Knee Prosthesis With Electromagnet-Controlled Mode Transition | IEEE ROBOTICS AND AUTOMATION LETTERS | Prosthetics and exoskeletons; actuation and joint mechanisms | A hybrid knee prosthesis is proposed in this letter, which consists of a polycentric structure in passive mode for low-torque activities and a single-axis structure in active mode for high-torque activities. A novel mode transition mechanism controls self-holding electromagnets for switching modes between the four-bar linkage and single-axis structure. Compared with the conventional single-axis hybrid knee, the four-bar polycentric mechanism with varying instantaneous center of rotation (ICR) can enhance the geometric stability and increase the toe clearance in passive mode. For active mode, we developed a custom embedded electric system, employed torque control for stance and position control for swing. The results of bench tests indicated that the bandwidth of the controller was suitable for locomotion. The clinical test of level-ground walking without sudden buckling and stumble was validated by three subjects. Regarding climbing stairs, a typical high-torque activity in daily locomotion, all subjects reach the maximum knee torque around 0.95 Nm/kg comparable to the able-bodied. | [Wang, Xu; Xiu, Haohua; Zhang, Yao; Liang, Wei; Chen, Wei; Ren, Lei; Ren, Luquan] Jilin Univ, Key Lab Bion Engn, Minist Educ, Changchun 130022, Peoples R China; [Wei, Guowu] Univ Salford, Sch Sci Engn & Environm, Salford M5 4WT, Lancs, England; [Ren, Lei] Univ Manchester, Dept Mech Aerosp & Civil Engn, Manchester M13 9PL, Lancs, England | Jilin University; University of Salford; University of Manchester | Xiu, HH; Ren, L (corresponding author), Jilin Univ, Key Lab Bion Engn, Minist Educ, Changchun 130022, Peoples R China. | National Key R&D Program of China | 5 | OCT | 2022 | 10.1109/LRA.2022.3193462 | http://dx.doi.org/10.1109/LRA.2022.3193462 |
54 | C | Devillez, L; Herman, B; Ronsse, R | Devillez, Louis; Herman, Benoit; Ronsse, Renaud | Design of a compact active hip prosthesis with human-like range of motion and torque | 2024 10TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE FOR BIOMEDICAL ROBOTICS AND BIOMECHATRONICS, BIOROB 2024 | Hip disarticulation and hemipelvectomy are the most severe forms of lower limb amputation, posing significant challenges to prosthetic solutions in terms of size, biomechanical functionality, and user compatibility. While active ankle and knee prostheses have made spectacular progresses recently in restoring a physiological gait, these advancements did not percolate yet to hip prosthesis design. This article introduces an innovative design of an active hip prosthesis displaying remote center of motion, and range of motion and torque compatible with the most ubiquitous locomotion tasks, i.e., walking and stand-to-sit-to-stand transitions. The designed structure incorporates a tilted double parallelogram mechanism, in order to optimize compactness and minimize internal constraints. The proposed hip prosthesis design features minimal encumbrance, with a horizontal size of 140mm and a frontal width of 136 mm. Its range of motion spans from -30 degrees to 90 degrees, providing a comfortable sitting position with existing shell design. Remarkably, the mass of this hip joint is a mere 3.30 kg, excluding battery and power electronics. | [Devillez, Louis; Herman, Benoit; Ronsse, Renaud] UCLouvain, Inst Mech Mat & Civil Engn, B-1348 Louvain La Neuve, Belgium; [Devillez, Louis; Herman, Benoit; Ronsse, Renaud] UCLouvain, Louvain Bion, B-1348 Louvain La Neuve, Belgium; [Ronsse, Renaud] UCLouvain, Inst Neurosci, B-1200 Brussels, Belgium | Universite Catholique Louvain; Universite Catholique Louvain; Universite Catholique Louvain | Devillez, L (corresponding author), UCLouvain, Inst Mech Mat & Civil Engn, B-1348 Louvain La Neuve, Belgium.;Devillez, L (corresponding author), UCLouvain, Louvain Bion, B-1348 Louvain La Neuve, Belgium. | Belgian F.R.S.-FNRS(Fonds de la Recherche Scientifique - FNRS) | 0 | 2024 | 10.1109/BIOROB60516.2024.10719919 | http://dx.doi.org/10.1109/BIOROB60516.2024.10719919 | ||
55 | C | Zhu, WD; Ju, ZM; Fu, GX; Ruan, LC; Wang, QN | Zhu, Wenduo; Ju, Zhenmeng; Fu, Guoxiang; Ruan, Lecheng; Wang, Qining | Design of a Mode-Switchable Elastic Actuator Towards Interactive Robotic Applications | INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2024, PT VII | Robotic Interaction; Elastic Actuator; Mode-Switchable | Contemporary robotic applications, with recent advancements in the integration of intelligence, are distinguished by the enhanced interactions with both environments and humans, necessitating diverse operational capabilities. Specifically, certain applications demand high torque for intensive tasks, while others require high compliance to ensure safety and comfort during interaction. However, while both have been addressed to some extent through actuator design, these two sets of requirements are often mutually exclusive due to opposing design principles. This paper presents a novel design of a switchable-mode elastic actuator that can alternate between high-torque and high-compliance modes by fixing and relaxing the planetary wheel's internal gear ring, thus meeting the dual requirements of advanced robotic systems. Experimental results confirm the actuator's primary capability for both modes. This innovation holds significant potential for broadening the functional versatility of robots in complex, interactive applications. | [Zhu, Wenduo; Ju, Zhenmeng; Fu, Guoxiang; Ruan, Lecheng; Wang, Qining] Peking Univ, Coll Engn, Beijing 100871, Peoples R China | Peking University | Ruan, LC; Wang, QN (corresponding author), Peking Univ, Coll Engn, Beijing 100871, Peoples R China. | National Natural Science Foundation of China (NSFC) | 0 | 2025 | 10.1007/978-981-96-0780-8_10 | http://dx.doi.org/10.1007/978-981-96-0780-8_10 | |
56 | C | Fiorezi, GG; Ulhoa, PHF; Kock, AB; Inacio, DP; Buzatto, PHB; de Andrade, RM | Fiorezi, Guilherme G.; Ulhoa, Pedro H. F.; Kock, Augusto B.; Inacio, Danilo P.; Buzatto, Pedro H. B.; de Andrade, Rafhael M. | Design of a Powered Leg Prosthesis with a Custom Embedded Load Cell | 2024 20TH IEEE/ASME INTERNATIONAL CONFERENCE ON MECHATRONIC AND EMBEDDED SYSTEMS AND APPLICATIONS, MESA 2024 | lower-limb; prosthesis; powered; load cell | The lower limbs support the body's weight and are responsible for human balance and mobility. The number of lower limb amputations is significant and the amputee population increases every year. Assistive technologies, such as prostheses, are fundamental to restoring bipedal locomotion and independence. To avoid extra weight, the current design of leg prostheses employs a single-axis load cell to measure ground force reaction. This paper presents the mechanical design and control of a powered lower limb prosthesis with the knee and ankle joints using a coaxial motor-reducer composed of a 200 W EC motor directly coupled to a harmonic drive reducer with a 51:1 ratio. Additionally, we present the design and calibration of a four-bar structure with integrated sensors capable of functioning as a load cell for ground reaction force and also serving as a linking mechanism for both robotic joints. The controller architecture employs a finite state machine and impedance controller to manage the prosthesis dynamics in each phase. Data from the linking structure is used to identify gait phase transitions in the state machine. Tests with transfemoral amputees demonstrated that this design is suitable to assist the user during walking with the powered leg. | [Fiorezi, Guilherme G.; Kock, Augusto B.; Inacio, Danilo P.; de Andrade, Rafhael M.] Univ Fed Espirito Santo, Dept Mech Engn, Vitoria, ES, Brazil; [Ulhoa, Pedro H. F.; Buzatto, Pedro H. B.] Univ Fed Espirito Santo, Dept Elect Engn, Vitoria, ES, Brazil | Universidade Federal do Espirito Santo; Universidade Federal do Espirito Santo | Fiorezi, GG (corresponding author), Univ Fed Espirito Santo, Dept Mech Engn, Vitoria, ES, Brazil. | FAPES (Fundacao de Amparo a Pesquisa e Inovacao do Espirito Santo; FINEP (Financiadora de Estudos e Projetos com recursos do FNDCT); Brazilian National Council for Scientific and Technological Development (CNPq)(Conselho Nacional de Desenvolvimento Cientifico e Tecnologico (CNPQ)); CAPES (Coordenacao de Aperfeicoamento de Pessoal de Nivel Superior)(Coordenacao de Aperfeicoamento de Pessoal de Nivel Superior (CAPES)) | 0 | 2024 | 10.1109/MESA61532.2024.10704899 | http://dx.doi.org/10.1109/MESA61532.2024.10704899 | |
57 | C | Thesleff, A; Ahkami, B; Anderson, J; Hagberg, K; Ortiz-Catalan, M | Thesleff, Alexander; Ahkami, Bahareh; Anderson, Jenna; Hagberg, Kerstin; Ortiz-Catalan, Max | Design of a stepwise safety protocol for lower limb prosthetic risk management in a clinical investigation | 2021 43RD ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE & BIOLOGY SOCIETY (EMBC) | In research on lower limb prostheses, safety during testing and training is paramount. Lower limb prosthesis users risk unintentional loss of balance that can result in injury, fear of falling, and overall decreased confidence in their prosthetic leg. Here, we present a protocol for managing the risks during evaluation of active prosthetic legs with modifiable control systems. We propose graded safety levels, each of which must be achieved before advancing to the next one, from laboratory bench testing to independent ambulation in real-world environments. | [Thesleff, Alexander; Ahkami, Bahareh; Ortiz-Catalan, Max] Ctr Bion & Pain Res, Molndal, Sweden; [Thesleff, Alexander; Ahkami, Bahareh; Ortiz-Catalan, Max] Chalmers Univ Technol, Dept Elect Engn, Gothenburg, Sweden; [Thesleff, Alexander] Integrum AB, Molndal, Sweden; [Anderson, Jenna] Ctr Bion & Pain Res, Gothenburg, Sweden; [Anderson, Jenna] Sahlgrens Univ Hosp, Ctr Adv Reconstruct Extrem, Gothenburg, Sweden; [Hagberg, Kerstin] Sahlgrens Univ Hosp, Dept Orthopaed, Gothenburg, Sweden; [Hagberg, Kerstin] Univ Gothenburg, Sahlgrenska Acad, Inst Clin Sci, Dept Orthopaed,Sahlgrenska Univ Hosp, Gothenburg, Sweden; [Ortiz-Catalan, Max] Sahlgrens Univ Hosp, Operat Area 3, Gothenburg, Sweden; [Ortiz-Catalan, Max] Univ Gothenburg, Inst Clin Sci, Dept Orthopaed, Sahlgrenska Acad, Gothenburg, Sweden | Chalmers University of Technology; Sahlgrenska University Hospital; Sahlgrenska University Hospital; University of Gothenburg; Sahlgrenska University Hospital; Sahlgrenska University Hospital; University of Gothenburg | Thesleff, A (corresponding author), Ctr Bion & Pain Res, Molndal, Sweden.;Thesleff, A (corresponding author), Chalmers Univ Technol, Dept Elect Engn, Gothenburg, Sweden.;Thesleff, A (corresponding author), Integrum AB, Molndal, Sweden. | Promobilia Foundation; IngaBritt and Arne Lundbergs Foundation; Swedish Innovation Agency (VINNOVA)(Vinnova); Swedish Research Council (Vetenskapsradet)(Swedish Research Council); Swedish government; ALF | 1 | 2021 | 10.1109/EMBC46164.2021.9629989 | http://dx.doi.org/10.1109/EMBC46164.2021.9629989 | ||
58 | J | He, ZX; Liu, T | He, Zexia; Liu, Tao | Design of a three-dimensional capacitor-based six-axis force sensor for human-robot interaction | SENSORS AND ACTUATORS A-PHYSICAL | Three-dimensional capacitor structure; Manufacturing process; Six-axis force sensor; Human-robot interaction | Multi-dimensional force sensing capability of the robot plays a critical role in its interaction with the human and environment. The six-axis force sensor as a typical representative of the multi-axis force sensor, however, has not been extensively used in the field of human-robot interaction due to its high price. A low cost, a good sensing accuracy, and a high integration level six-axis force sensor is highly desirable to create. In this paper, to weaken the crosstalk phenomenon between the six-axis and opti-mize the sensitivity of overall system, a 3D capacitor structure with a cross-shape configuration of the shear force sensing cell was proposed. Eight electrodes were arranged on three perpendicular planes of the Cartesian coordinate system independently. The cross-shape differential capacitor was designed to achieve the improvement of sensitivity along the shear force direction. With Polyoxymethylene (POM) selected as the substrate material, a monolithic spatial structure was manufactured using CNC technol-ogy, and then conductive copper paint was sprayed on the specific surfaces of this 3D structure. The cost-effective prototype sensor has been manufactured without the manual work and experimentally validated by comparing it with a commercial six-axis force sensor. The characteristics of the prototype were analyzed in terms of its linearity, interference error, hysteresis, time domain response, SNR, offset repeatability and time drift. Finally, to verify the instrumented six-axis force sensor further, a controlled lab test was performed to measure the interaction forces with the Baxter Research Robot in a simulated scenario. (c) 2021 Elsevier B.V. All rights reserved. | [He, Zexia; Liu, Tao] Zhejiang Univ, Sch Mech Engn, State Key Lab Fluid Power & Mechatron Syst, Hangzhou 310027, Peoples R China | Zhejiang University | Liu, T (corresponding author), Zhejiang Univ, Sch Mech Engn, State Key Lab Fluid Power & Mechatron Syst, Hangzhou 310027, Peoples R China. | National Natural Science Foundation of China (NSFC) | 24 | NOV 1 | 2021 | 10.1016/j.sna.2021.112939 | http://dx.doi.org/10.1016/j.sna.2021.112939 |
59 | C | Gabert, L; Tran, M; Lenzi, T | Gabert, Lukas; Tran, Minh; Lenzi, Tommaso | Design of an Underactuated Powered Ankle and Toe Prosthesis | 2021 43RD ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE & BIOLOGY SOCIETY (EMBC) | Powered ankle/foot prostheses aim to replicate the biomechanical function of the missing biological limb. Biomechanical analysis shows that while the ankle injects positive energy into the gait cycle, the toe joint dissipates energy. Yet virtually all powered ankle/foot prostheses use custom ankle actuators in combination with carbon fiber foot springs to imitate the function of the missing ankle/foot complex. Here we introduce a powered ankle and toe prosthesis with an underactuated mechanism. The underactuated mechanism connects the toe and ankle joints, providing biomechanically accurate torque and enabling mechanical energy recovery during gait. The proposed powered ankle/toe prothesis is the first device to match the weight, size, and build height of microprocessor-controlled prostheses. Clinical Relevance-A lightweight, efficient prosthesis with powered ankle and toe joints has the potential to improve ambulation in individuals below-knee amputations. | [Gabert, Lukas; Tran, Minh; Lenzi, Tommaso] Univ Utah, Dept Mech Engn, Salt Lake City, UT 84112 USA; [Gabert, Lukas; Tran, Minh; Lenzi, Tommaso] Univ Utah, Robot Ctr, Salt Lake City, UT 84112 USA | Utah System of Higher Education; University of Utah; Utah System of Higher Education; University of Utah | Gabert, L (corresponding author), Univ Utah, Dept Mech Engn, Salt Lake City, UT 84112 USA.;Gabert, L (corresponding author), Univ Utah, Robot Ctr, Salt Lake City, UT 84112 USA. | National Institutes of Health (NIH) | 8 | 2021 | 10.1109/EMBC46164.2021.9629842 | http://dx.doi.org/10.1109/EMBC46164.2021.9629842 | ||
60 | J | Mathews, CW; Braun, DJ | Mathews, Chase W.; Braun, David J. | Design of Parallel Variable Stiffness Actuators | IEEE TRANSACTIONS ON ROBOTICS | Springs; Task analysis; Force; Actuators; Oscillators; Torque; Legged locomotion; Compliant actuators; mechanism design; parallel elastic actuation | Direct-drive motors (DDMs) have been increasingly used for robot actuation because they provide high-fidelity torque control, but they typically have low torque density. Gearing can be used to increase the torque density of motors, but gearing decreases the power density of the actuator. Parallel elastic actuators (PEAs), composed of a spring attached in parallel to a motor, can increase both the torque and power density of the actuator without jeopardizing torque control fidelity. PEAs can also generate efficient oscillatory motion by applying the torque of the motor through resonant oscillations. However, conventional fixed stiffness springs used in PEAs only enable efficient oscillatory motion at a fixed resonant frequency defined by the stiffness of the spring. In this article, we present a parallel variable stiffness actuator (PVSA) consisting of a DDM connected in parallel to a variable stiffness spring. PVSAs retain the torque control bandwidth of DDMs and PEAs and can be used to amplify the torque and power of the motor over a range of oscillation frequencies. We present a compact design of a PVSA where a direct-drive motor, a high energy density composite spring, and a variable stiffness mechanism are arranged in a conventional cylindrical geometry, similar to a motor-gearbox assembly. We foresee the use of PVSAs in mobile robots and wearable devices, where energy efficient oscillatory motion at different frequencies, along with high torque and power density is indispensable. | [Mathews, Chase W.; Braun, David J.] Vanderbilt Univ, Dept Mech Engn, Adv Robot & Control Lab, Ctr Rehabil Engn & Assist Technol, Nashville, TN 37235 USA | Vanderbilt University | Braun, DJ (corresponding author), Vanderbilt Univ, Dept Mech Engn, Adv Robot & Control Lab, Ctr Rehabil Engn & Assist Technol, Nashville, TN 37235 USA. | National Science Foundation (NSF) | 20 | FEB | 2023 | 10.1109/TRO.2022.3197088 | http://dx.doi.org/10.1109/TRO.2022.3197088 |
61 | J | Sun, HR; He, CM; Vujaklija, I | Sun, Haoran; He, Chaoming; Vujaklija, Ivan | Design trends in actuated lower-limb prosthetic systems: a narrative review | EXPERT REVIEW OF MEDICAL DEVICES | Amputation; gait analysis; powered prosthesis; prosthetic socket; semi-active prosthesis | IntroductionActuated lower limb prostheses, including powered (active) and semi-active (quasi-passive) joints, are endowed with controllable power and/or impedance, which can be advantageous to limb impairment individuals by improving locomotion mechanics and reducing the overall metabolic cost of ambulation. However, an increasing number of commercial and research-focused options have made navigating this field a daunting task for users, researchers, clinicians, and professionals.Areas coveredThe present paper provides an overview of the latest trends and developments in the field of actuated lower-limb prostheses and corresponding technologies. Following a gentle summary of essential gait features, we introduce and compare various actuated prosthetic solutions in academia and the market designed to provide assistance at different levels of impairments. Correspondingly, we offer insights into the latest developments of sockets and suspension systems, before finally discussing the established and emerging trends in surgical approaches aimed at improving prosthetic experience through enhanced physical and neural interfaces.Expert opinionThe ongoing challenges and future research opportunities in the field are summarized for exploring potential avenues for development of next generation of actuated lower limb prostheses. In our opinions, a closer multidisciplinary integration can be found in the field of actuated lower-limb prostheses in the future. | [Sun, Haoran; He, Chaoming] Southwest Jiaotong Univ, Sch Mech Engn, Chengdu, Peoples R China; [Sun, Haoran; Vujaklija, Ivan] Aalto Univ, Dept Elect Engn & Automat, Espoo, Finland; [Vujaklija, Ivan] Aalto Univ, Dept Elect Engn & Automat, Espoo 02150, Finland | Southwest Jiaotong University; Aalto University; Aalto University | Vujaklija, I (corresponding author), Aalto Univ, Dept Elect Engn & Automat, Espoo 02150, Finland. | Sichuan Science and Technology Program | 1 | DEC 2 | 2023 | 10.1080/17434440.2023.2279999 | http://dx.doi.org/10.1080/17434440.2023.2279999 |
62 | J | Anderson, AJ; Hudak, YF; Muir, BC; Aubin, PM | Anderson, Anthony J.; Hudak, Yuri F.; Muir, Brittney C.; Aubin, Patrick M. | Design, Control, and Evaluation of a Robotic Ankle-Foot Prosthesis Emulator | IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS | Robotics; ankle; walking; power; rehabilitation | People with transtibial limb loss experience reduced mobility. Intelligent ankle-foot prostheses have the potential to improve quality of life in people with limb loss, but there are scientific, clinical, and commercial barriers that prevent widespread impact. Further research tools and experiments are needed to expand our understanding of how to design and control intelligent prosthetic limbs. We designed and built a robotic ankle-foot prosthesis with off-board actuation and control to serve as a platform for biomechanical lower limb loss research. Our prosthesis fits inside of a shoe during walking and attaches to standard clinical prosthesis componentry, including carbon fiber prosthetic footplates and pyramid adapters. Our novel mechanical architecture implements a custom torsion spring in parallel with the ankle joint to allow for dorsiflexion and plantarflexion torque control with a single off-board actuator. Benchtop tests show that our prosthesis has peak plantarflexion torques greater than 175 Nm and a torque control bandwidth of 6.1 Hz. Walking experiments with two participants with lower limb loss indicate that the prosthesis can achieve low torque tracking errors and push-off power greater than the biological ankle during walking. This device will enable future experiments on amputee gait biomechanics, human-robot interaction, and prosthesis control. | [Anderson, Anthony J.; Hudak, Yuri F.; Muir, Brittney C.; Aubin, Patrick M.] Univ Washington, Dept Mech Engn, Seattle, WA 98116 USA; [Anderson, Anthony J.; Hudak, Yuri F.; Muir, Brittney C.] VA Puget Sound Hlth Care Syst, Ctr Limb Loss & Mobil, Seattle, WA 98018 USA; [Aubin, Patrick M.] Univ Washington, Dept Orthopaed & Sports Med, Seattle, WA 98116 USA | University of Washington; University of Washington Seattle; US Department of Veterans Affairs; Veterans Health Administration (VHA); Vet Affairs Puget Sound Health Care System; University of Washington; University of Washington Seattle | Anderson, AJ (corresponding author), Univ Washington, Dept Mech Engn, Seattle, WA 98116 USA.;Anderson, AJ (corresponding author), VA Puget Sound Hlth Care Syst, Ctr Limb Loss & Mobil, Seattle, WA 98018 USA. | VA RRamp;D; VA Puget Sound Predoctoral Training Award(US Department of Veterans Affairs) | 3 | AUG | 2023 | 10.1109/TMRB.2023.3291015 | http://dx.doi.org/10.1109/TMRB.2023.3291015 |
63 | J | Wang, X; Zhang, Y; Liang, W; Chen, W; Xiu, HH; Ren, L; Wei, GW; Ren, LQ | Wang, Xu; Zhang, Yao; Liang, Wei; Chen, Wei; Xiu, Haohua; Ren, Lei; Wei, Guowu; Ren, Luquan | Design, Control, and Validation of a Polycentric Hybrid Knee Prosthesis | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | Four-bar linkage; hybrid; knee prosthesis; limb amputation; polycentric | This article presents a novel polycentric hybrid knee prosthesis (PHKP) by enabling a multibar linkage to work for high-torque activities in active mode and for low-torque activities in passive mode. The mode transition is implemented the servo-controlled telescopic slide rails. Distinguished from the single-axis hybrid knee prostheses, the PHKP knee provides geometric stability in stance and notably increases toe clearance in swing by using an optimally designed instantaneous center of rotation trajectory. In active mode, the PHKP knee provides high transmission ratio and continuous peak torque offering sufficient support for torque-demanding activities. Impedance control was employed to regulate joint torque as a response to knee motion in the active mode. It was found that due to the inherent geometric stability of the polycentric mechanism in stance, the damping coefficient of the controller can be tuned much smoother than the single-axis knees leading to more compliant and comfortable interactions among the wearer, the prosthesis and the ground. The stair ascent tests showed that the joint angle and torque profiles of the PHKP knee are similar to those of the able-bodied by demonstrating a step-over-step pattern with a peak angle of 73 degrees and a maximum torque of 0.92 N center dot m/kg. | [Wang, Xu; Zhang, Yao; Liang, Wei; Chen, Wei; Xiu, Haohua; Ren, Lei; Ren, Luquan] Jilin Univ, Key Lab Bion Engn, Minist Educ, Changchun 130022, Peoples R China; [Ren, Lei] Univ Manchester, Dept Mech Aerosp & Civil Engn, Manchester M13 9PL, England; [Wei, Guowu] Univ Salford, Sch Sci Engn & Environm, Salford M5 4WT, England | Jilin University; University of Manchester; University of Salford | Xiu, HH; Ren, L (corresponding author), Jilin Univ, Key Lab Bion Engn, Minist Educ, Changchun 130022, Peoples R China.;Ren, L (corresponding author), Univ Manchester, Dept Mech Aerosp & Civil Engn, Manchester M13 9PL, England. | National Key R&D Program of China | 8 | SEP | 2023 | 10.1109/TIE.2022.3212413 | http://dx.doi.org/10.1109/TIE.2022.3212413 |
64 | J | Li, ZN; Han, Y; Liu, CB; Xiu, HH; Wei, GW; Ren, L | Li, Zhennan; Han, Yang; Liu, Chunbao; Xiu, Haohua; Wei, Guowu; Ren, Lei | Design, Manufacture, and Experimental Validation of a Hydraulic Semi-Active Knee Prosthesis | IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING | Knee prosthesis; hydraulic; semi-active drive; low passive friction; high transmission ratio | In this article, a new hydraulic semi-active knee (HSAK) prosthesis is proposed. Compared with knee prostheses driven by hydraulic-mechanical coupling or electromechanical systems, we novelly combine independent active and passive hydraulic subsystems to solve the incompatibility between low passive friction and high transmission ratio of current semi-active knees. The HSAK not only has the low friction to follow the intentions of users, but also performs adequate torque output. Moreover, the rotary damping valve is meticulously designed to effectively control motion damping. The experimental results demonstrate the HSAK combines the advantages of both passive and active prostheses, including the flexibility of passive prostheses, as well as the stability and the sufficient active torque of active prostheses. The maximum flexion angle in level walking is about 60 & DEG;, and the peak output torque in stair ascent is greater than 60Nm. Relative to the daily use of prosthetics, the HSAK improves gait symmetry on the affected side and contributes to the amputees better maintain daily activities. | [Li, Zhennan; Han, Yang; Liu, Chunbao] Jilin Univ, Sch Mech & Aerosp Engn, Key Lab Engn B, Minist Educ, Changchun 130022, Peoples R China; [Xiu, Haohua; Ren, Lei] Jilin Univ, Key Lab Engn B, Minist Educ, Changchun 130022, Peoples R China; [Xiu, Haohua; Ren, Lei] Univ Manchester, Sch Mech Aerosp & Civil Engn, Manchester M139PL, Lancashire, England; [Wei, Guowu] Univ Salford, Sch Sci Engn & Environm, Manchester M54WT, Lancashire, England | Jilin University; Jilin University; University of Manchester; University of Salford | Liu, CB (corresponding author), Jilin Univ, Sch Mech & Aerosp Engn, Key Lab Engn B, Minist Educ, Changchun 130022, Peoples R China.;Ren, L (corresponding author), Jilin Univ, Key Lab Engn B, Minist Educ, Changchun 130022, Peoples R China.;Ren, L (corresponding author), Univ Manchester, Sch Mech Aerosp & Civil Engn, Manchester M139PL, Lancashire, England. | National Key Research and Development Program of China(National Key Research & Development Program of China); Young and Middle-Aged Scientific and Technological Innovation and Entrepreneurship Outstanding Talents (Team) Project (Innovation) of Jilin Province; Fundamental Research Funds for the Central Universities, Jilin University | 5 | 2023 | 10.1109/TNSRE.2023.3246071 | http://dx.doi.org/10.1109/TNSRE.2023.3246071 | |
65 | J | Song, MJ; Li, ZY; Jiang, JJ; Chen, WH; Guo, S; Zheng, H; Niu, LZ | Song, Majun; Li, Zhongyi; Jiang, Jingjing; Chen, Weihai; Guo, Sheng; Zheng, Hao; Niu, Lianzheng | Design, Simulation and Kinematic Validation of a Hip Prosthetic Mechanism with a Multimotor Function | JOURNAL OF BIONIC ENGINEERING | Hip prosthetic mechanism; Parallel mechanism; Walking stability; Kinematic validation | We previously developed a powered hip prosthetic mechanism with kinematic functions of hip flexion-extension and abduction-adduction, and its theoretical and simulation-based kinematics were verified. Because internal-external hip rotation has a positive effect on the movements of human lower limbs according to medical research, we developed a novel hip prosthetic mechanism based on a previous hip prosthesis that possesses motion characteristics similar to those of a human bionic hip, and the motion characteristics of multiple Degrees-of-Freedom (DoFs) were analyzed after kinematic modeling. Then, a walking model of the human-machine model was established, and the walking stability of an amputee, which reflects the rehabilitation effect, was explored while the hip prosthetic mechanism considered the internal-external rotation of the hip. Finally, a prototype and its verification platform were built, and kinematic validation of the hip prosthetic mechanism was carried out. The results showed that the designed Parallel Mechanism (PM) possesses human-like motion characteristics similar to those of a human bionic hip and can be used as a hip prosthesis. Moreover, the existing motion characteristic of internal-external hip rotation can enhance the walking stability of an amputee via this hip prosthetic mechanism. | [Song, Majun; Li, Zhongyi; Chen, Weihai; Zheng, Hao] Beihang Univ, Hangzhou Innovat Inst, Hangzhou 310051, Peoples R China; [Jiang, Jingjing] Hangzhou Huacheng Software Technol Co Ltd, Hangzhou 310051, Peoples R China; [Guo, Sheng; Niu, Lianzheng] Beijing Jiaotong Univ, Sch Mech Elect & Control Engn, Beijing 100044, Peoples R China | Beihang University; Beijing Jiaotong University | Chen, WH (corresponding author), Beihang Univ, Hangzhou Innovat Inst, Hangzhou 310051, Peoples R China.;Guo, S (corresponding author), Beijing Jiaotong Univ, Sch Mech Elect & Control Engn, Beijing 100044, Peoples R China. | National Natural Science Foundation of China (NSFC) | 0 | MAY | 2024 | 10.1007/s42235-024-00490-x | http://dx.doi.org/10.1007/s42235-024-00490-x |
66 | C | Berettoni, A; Traverso, S; De Giuseppe, S; De Benedictis, C; Ferraresi, C; Boccardo, N; Laffranchi, M | Berettoni, Andrea; Traverso, Simone; De Giuseppe, Samuele; De Benedictis, Carlo; Ferraresi, Carlo; Boccardo, Nicolo; Laffranchi, Matteo | Development of a high backdrivable partially powered Swing assistive actuator knee design: a multiobjective optimization framework | 2024 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, AIM 2024 | Transfemoral; prosthesis; partially powered; biomechanics; amputation; backdrivability | This manuscript presents a multiobjective optimization framework for high backdrivable partially powered swing assistive actuator knee design. The research exploits a Serial Elastic Actuator (SEA), in parallel with a motor valves controlled hydraulic cylinder, with the purpose of expanding the prosthesis capabilities into the power quadrants of the power plane, without sacrificing the benefits relative to existing microprocessor-controlled-knee prostheses (MPKs), able to allow a strictly-passive ballistic swing-phase. The mechatronic design parameters are optimized by exploiting the multi-objective evolutionary genetic algorithm and validated by means of a knee prosthesis multibody model. The backdrive torque found with the described model corresponds to a relatively low value of 2.56 Nm at the knee joint, allowing the pursued high backdrivability of the system. | [Berettoni, Andrea; Boccardo, Nicolo; Laffranchi, Matteo] Italian Inst Technol, Rehab Technol IIT INAIL Lab, Via Morego 30, I-16163 Genoa, Italy; [Berettoni, Andrea; Traverso, Simone; De Giuseppe, Samuele; De Benedictis, Carlo; Ferraresi, Carlo] Polytech Univ Turin, Dept Mech & Aerosp Engn, I-10129 Turin, Italy; [De Giuseppe, Samuele; Boccardo, Nicolo] Open Univ, Ist Italiano Tecnol ARC IIT, Res Ctr, Milton Keynes MK7 6AA, Bucks, England | Istituto Italiano di Tecnologia - IIT; Polytechnic University of Turin; Open University - UK | Berettoni, A (corresponding author), Italian Inst Technol, Rehab Technol IIT INAIL Lab, Via Morego 30, I-16163 Genoa, Italy.;Berettoni, A (corresponding author), Polytech Univ Turin, Dept Mech & Aerosp Engn, I-10129 Turin, Italy. | Istituto Nazionale per l'Assicurazione contro gli Infortuni sul Lavoro (INAIL) | 0 | 2024 | 10.1109/AIM55361.2024.10637019 | http://dx.doi.org/10.1109/AIM55361.2024.10637019 | |
67 | C | Sakoda, S; Murabayashi, M; Mitani, T; Inoue, K | Sakoda, Shuji; Murabayashi, Mai; Mitani, Takuya; Inoue, Koh | Development of a Passive Mechanism for Transfemoral Prosthetic Knee to Assist Sitting-down on/Stand-up from a Chair | 2024 SICE FESTIVAL WITH ANNUAL CONFERENCE, SICE FES 2024 | Prosthetic knee; Stand up; Passive mechanism | Sitting down and standing up from a chair are essential daily activities. However, existing prosthetic knees often lack sufficient functionality to perform these motions, particularly when standing up. Consequently, unilateral transfemoral prosthetic users must rely more on their sound limb for these motions, which can potentially lead to injury or joint disease due to the increased load on the joints of the intact side. The present study aimed to develop a prosthetic knee mechanism that assists in sitting down and standing up from a chair. We proposed a new passive mechanism integrated into our previous prosthetic knee design. This mechanism stores mechanical energy in a spring during knee flexion when sitting down, providing flexion resistance. The stored energy is then released by the user's manipulation, assisting in knee extension. In the evaluation experiment, a subject equipped with a simulated thigh socket and the proposed prosthetic knee performed the motions of sitting down and standing up from a chair. The results demonstrated a higher symmetry index of the ground reaction force during these motions with the proposed mechanism compared to the literature, suggesting that the mechanism functioned appropriately. The proposed mechanism can be applied to other prosthetic knees, potentially allowing transfemoral amputees to gain the functionality for standing up without needing to replace their current prosthetic knee. | [Sakoda, Shuji] Kagawa Univ, Grad Sch Sci Creat Emergence, Miki, Kagawa, Japan; [Murabayashi, Mai; Mitani, Takuya] Kagawa Univ, Grad Sch Engn, Miki, Kagawa, Japan; [Inoue, Koh] Kagawa Univ, Area Mech Syst Engn, Takamatsu, Kagawa, Japan; [Inoue, Koh] Natl Inst Adv Ind Sci & Technol, Hlth & Med Res Inst, Dept Life Sci & Biotechnol, Takamatsu, Kagawa, Japan | Kagawa University; Kagawa University; Kagawa University; National Institute of Advanced Industrial Science & Technology (AIST) | Sakoda, S (corresponding author), Kagawa Univ, Grad Sch Sci Creat Emergence, Miki, Kagawa, Japan. | 0 | 2024 | ||||
68 | J | Boe, D; Portnova-Fahreeva, AA; Sharma, A; Rai, V; Sie, A; Preechayasomboon, P; Rombokas, E | Boe, David; Portnova-Fahreeva, Alexandra A.; Sharma, Abhishek; Rai, Vijeth; Sie, Astrini; Preechayasomboon, Pornthep; Rombokas, Eric | Dimensionality Reduction of Human Gait for Prosthetic Control | FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY | machine learning; kinematic; principal compenent analysis; autoencoder; gait; prosthesis; dimensionality; nonlinear | We seek to use dimensionality reduction to simplify the difficult task of controlling a lower limb prosthesis. Though many techniques for dimensionality reduction have been described, it is not clear which is the most appropriate for human gait data. In this study, we first compare how Principal Component Analysis (PCA) and an autoencoder on poses (Pose-AE) transform human kinematics data during flat ground and stair walking. Second, we compare the performance of PCA, Pose-AE and a new autoencoder trained on full human movement trajectories (Move-AE) in order to capture the time varying properties of gait. We compare these methods for both movement classification and identifying the individual. These are key capabilities for identifying useful data representations for prosthetic control. We first find that Pose-AE outperforms PCA on dimensionality reduction by achieving a higher Variance Accounted For (VAF) across flat ground walking data, stairs data, and undirected natural movements. We then find in our second task that Move-AE significantly outperforms both PCA and Pose-AE on movement classification and individual identification tasks. This suggests the autoencoder is more suitable than PCA for dimensionality reduction of human gait, and can be used to encode useful representations of entire movements to facilitate prosthetic control tasks. | [Boe, David; Portnova-Fahreeva, Alexandra A.; Sharma, Abhishek; Preechayasomboon, Pornthep; Rombokas, Eric] Univ Washington, Dept Mech Engn, Seattle, WA 98195 USA; [Rai, Vijeth; Sie, Astrini; Rombokas, Eric] Univ Washington, Dept Elect Engn, Seattle, WA 98195 USA | University of Washington; University of Washington Seattle; University of Washington; University of Washington Seattle | Boe, D (corresponding author), Univ Washington, Dept Mech Engn, Seattle, WA 98195 USA. | 13 | OCT 14 | 2021 | 10.3389/fbioe.2021.724626 | http://dx.doi.org/10.3389/fbioe.2021.724626 | |
69 | J | Bonnet, X; Villa, C; Loiret, I; Lavaste, F; Pillet, H | Bonnet, Xavier; Villa, Coralie; Loiret, Isabelle; Lavaste, Francois; Pillet, Helene | Distribution of joint work during walking on slopes among persons with transfemoral amputation | JOURNAL OF BIOMECHANICS | Transfemoral amputation; Lower limb; Slope; Locomotion; Biomechanics | Persons with above-knee amputation have increased energy consumption and greater difficulty in negotiating uphill and downhill slopes. Walking on slopes requires an adaptation of the positive and negative work performed by the joints of the lower limb to propel the center of mass. Modern prosthetic feet and knees can only partially adapt to changes in inclination, and the redistribution of joint work among persons with above-knee amputation is not described in the literature. Level, upslope and downslope walking (at 5% and 12% inclinations) were investigated for twelve subjects with transfemoral amputation fitted with an Energy Storing And Return foot (ESAR) and a Microprocessor controlled Prosthetic Knee (MPK) versus a control group of seventeen asymptomatic subjects. Lower limb joint and individual limb power and work were compared between prosthetic, contralateral and control limbs. The prosthesis dissipates less energy than the joints of the lower limb of the control group when descending the slope, but the demand on the contralateral limb is limited by a lower speed and step length. The huge deficit of positive work produced by the prosthetic ankle cannot be compensated by the residual hip during level and slope ascent which transfers the demand for energy production to the contralateral limb up to 40% on a 12% slope. This study highlights that prosthetic devices (ESAR foot and MPK) for persons with above-knee amputation present some limitations during slope walking that cannot be compensated by the residual hip and increase the work performed by the contralateral limb. | [Bonnet, Xavier; Lavaste, Francois; Pillet, Helene] Inst Biomecan Humaine Georges Charpak Arts & Meti, 151 Blvd lHop, F-75013 Paris, France; [Villa, Coralie] Inst Natl Invalides, Ctr dEtud & Rech lAppareillage Handicapes, Creteil, France; [Loiret, Isabelle] IRR UGECAM, Ctr Med Phys & Readaptat Louis Pierquim, Nord Est, F-54042 Nancy, France | Bonnet, X (corresponding author), Inst Biomecan Humaine Georges Charpak Arts & Meti, 151 Blvd lHop, F-75013 Paris, France. | French National Research Agency(Agence Nationale de la Recherche (ANR)) | 5 | DEC 2 | 2021 | 10.1016/j.jbiomech.2021.110843 | http://dx.doi.org/10.1016/j.jbiomech.2021.110843 | |
70 | J | Rose, CG; Gan, DM; Hussain, I | Rose, Chad G.; Gan, Dongming; Hussain, Irfan | Editorial: Wearable Robots and Sensorimotor Interfaces: Augmentation, Rehabilitation, Assistance or Substitution of Human Sensorimotor Function | FRONTIERS IN NEUROROBOTICS | wearable robotics; prosthetics; control; electroencephalography; electromyography; neurorehabilitation; user-centered design | [Rose, Chad G.] Auburn Univ, Dept Mech Engn, Auburn, AL 36849 USA; [Gan, Dongming] Purdue Univ, Polytech Inst, W Lafayette, IN USA; [Hussain, Irfan] Khalifa Univ, Ctr Autonomous Robot Syst, Dept Mech Engn, Abu Dhabi, U Arab Emirates | Auburn University System; Auburn University; Purdue University System; Purdue University; Khalifa University of Science & Technology | Rose, CG (corresponding author), Auburn Univ, Dept Mech Engn, Auburn, AL 36849 USA. | Khalifa University of Science and Technology(Khalifa University of Science & Technology) | 0 | JUN 23 | 2022 | 10.3389/fnbot.2022.954865 | http://dx.doi.org/10.3389/fnbot.2022.954865 | |
71 | C | Reginaldi, I; Puliti, M; Bunt, A; Franconi, B; Martulli, LM; Bernasconi, A; Frigo, CA; De Michieli, L; Laffranchi, M | Reginaldi, Irene; Puliti, Marco; Bunt, Alessandro; Franconi, Benedetta; Martulli, Luca Michele; Bernasconi, Andrea; Frigo, Carlo Albino; De Michieli, Lorenzo; Laffranchi, Matteo | Effect of Prosthetic Mass Reduction on Metabolic Cost and Walking Symmetry: a Case Study on Lower Limbs | 2024 10TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE FOR BIOMEDICAL ROBOTICS AND BIOMECHATRONICS, BIOROB 2024 | Recent human-centred design studies suggest that weight could negatively affect the physical use and psychological acceptance of a biomedical device. This aspect is especially relevant in the prosthetic field, in which heaviness is often related to device rejection. The aim of the proposed study is to inquire on the possibility to reduce the mass of a robotic leg prosthesis by topologically optimizing its structural frame. First, a finite element analysis (FEA) was performed to characterise the stress-strain response of a previously developed frame. Then, a topological optimization technique was applied to reduce weight while minimizing the frame compliance. Following the proposed methodology, the structural frame was manufactured, resulting in a 43.5% weight reduction. To validate the proposed structural optimization, walking experiments were performed, considering an able-bodied subject wearing an able-bodied adapter. The proposed solutions reduced the metabolic cost of walking by 8.4% while improving walking symmetry. | [Reginaldi, Irene; Puliti, Marco; Franconi, Benedetta; De Michieli, Lorenzo; Laffranchi, Matteo] Italian Inst Technol, Rehab Technol INAIL IIT Lab, Via Morego 30, I-16163 Genoa, Italy; [Bunt, Alessandro; Martulli, Luca Michele; Bernasconi, Andrea] Politecn Milan, Dept Mech Engn, Via La Masa 1, I-20156 Milan, Italy; [Frigo, Carlo Albino] Politecn Milan, Dept Elect Informat & Bioengn, Via Ponzio 34-5, I-20133 Milan, Italy | Istituto Italiano di Tecnologia - IIT; Polytechnic University of Milan; Polytechnic University of Milan | Reginaldi, I (corresponding author), Italian Inst Technol, Rehab Technol INAIL IIT Lab, Via Morego 30, I-16163 Genoa, Italy. | Istituto nazionale per l'assicurazione contro gli infortuni sul lavoro (INAIL) | 1 | 2024 | 10.1109/BIOROB60516.2024.10719801 | http://dx.doi.org/10.1109/BIOROB60516.2024.10719801 | ||
72 | J | Heremans, F; Evrard, J; Langlois, D; Ronsse, R | Heremans, Francois; Evrard, Jeanne; Langlois, David; Ronsse, Renaud | ELSA: A Foot-Size Powered Prosthesis Reproducing Ankle Dynamics During Various Locomotion Tasks | IEEE TRANSACTIONS ON ROBOTICS | Springs; Batteries; Motors; Torque; Prosthetics; Legged locomotion; Actuators; Ankle; Foot; Robot sensing systems; Compliant joint/mechanism; mechanism design; prosthetics and exoskeletons; wearable robots | Powered ankle-foot prostheses offer the potential to emulate natural locomotion dynamics, thereby addressing the issues related to uneven gait and insufficient propulsion typically experienced by individuals with lower limb amputation wearing a passive prosthetic device. Despite significant progress, existing powered prostheses are often hindered by their substantial build height, bulky design, excessive weight, and noise level, limiting their widespread adoption. This work presents efficient and lightweight spring ankle, a lightweight (1.15 kg) and compact (11 cm high) powered ankle-foot prosthesis fitting within the volume of a shoe and capable of providing a net positive mechanical energy over the gait cycle. This level of integration is achieved through an innovative arrangement of a spring and actuator mechanisms operating in synergy. This hybrid architecture offers users the choice to walk actively, with propulsive energy assistance; regeneratively, potentially allowing for energy harvesting to recharge the device battery; or completely turned off (passive). This prototype has been validated during benchtop experiments and through trials involving four amputated participants. These tests encompassed various scenarios, including treadmill walking and everyday ambulation tasks. In addition, a sensitivity analysis was conducted to assess how different control parameters impacted the provided mechanical energy and resulting gait performance. | [Heremans, Francois; Evrard, Jeanne; Ronsse, Renaud] UCLouvain, Inst Mech Mat & Civil Engn, Louvain Bion, B-1348 Louvain La Neuve, Belgium; [Langlois, David] Ossur, R&D, Grjothals 5, IS-110 Reykjavik, Iceland | Universite Catholique Louvain | Heremans, F (corresponding author), UCLouvain, Inst Mech Mat & Civil Engn, Louvain Bion, B-1348 Louvain La Neuve, Belgium. | OEssur hf. through an industrial grant | 1 | 2025 | 10.1109/TRO.2024.3508314 | http://dx.doi.org/10.1109/TRO.2024.3508314 | |
73 | J | Hsieh, TH; Yeon, SH; Herr, H | Hsieh, Tsung-Han; Yeon, Seong Ho; Herr, Hugh | Energy Efficiency and Performance Evaluation of an Exterior-Rotor Brushless DC Motor and Drive System across the Full Operating Range | ACTUATORS | brushless motors; robotics; actuator design; efficiency | In recent years, exterior-rotor brushless DC motors have become increasingly popular in robotics applications due to their compact shape and high torque density. However, these motors were originally used for continuous operation in drones. For applications such as exoskeletons, prostheses, or legged robots, short bursts of high power are often required. Unfortunately, vendors do not typically provide data on the motors' performance under these conditions. This paper presents experimental data on the torque-speed relationship, efficiency, and thermal responses of one of the most widely used outrunner-type brushless motors across its full operating range, including high-power short-duration operation. The results of this study can inform the selection and design of actuators for a range of robotics applications, particularly those that require high power output for brief periods of time. | [Hsieh, Tsung-Han; Yeon, Seong Ho; Herr, Hugh] MIT, K Lisa Yang Ctr Bion, Cambridge, MA 02139 USA; [Hsieh, Tsung-Han; Yeon, Seong Ho; Herr, Hugh] MIT, Dept Media Arts & Sci, Cambridge, MA 02142 USA | Massachusetts Institute of Technology (MIT); Massachusetts Institute of Technology (MIT) | Herr, H (corresponding author), MIT, K Lisa Yang Ctr Bion, Cambridge, MA 02139 USA.;Herr, H (corresponding author), MIT, Dept Media Arts & Sci, Cambridge, MA 02142 USA. | The MIT K. Lisa Yang Center for Bionics; MIT Media Lab Consortia | 1 | AUG | 2023 | 10.3390/act12080318 | http://dx.doi.org/10.3390/act12080318 |
74 | J | Zhang, KE; Chen, JH; Wang, J; Chen, XX; Leng, YQ; de Silva, CW; Fu, CL | Zhang, Kuangen; Chen, Jiahong; Wang, Jing; Chen, Xinxing; Leng, Yuquan; de Silva, Clarence W.; Fu, Chenglong | Ensemble diverse hypotheses and knowledge distillation for unsupervised cross-subject adaptation | INFORMATION FUSION | Unsupervised cross-subject adaptation; Ensemble learning; Knowledge distillation; Human intent prediction; Human activity recognition; Wearable robots | Human intent prediction (HIP) and human activity recognition (HAR) are important for human-robot interactions. However, human-robot interface signals are user-dependent. A classifier trained on labeled source subjects performs poorly on unlabeled target subjects. Besides, previous methods used a single learner, which may only learn a subset of features and degrade their performance on target subjects. Last, HIP and HAR require real-time computing on edge devices whose computational capabilities limit the model size. To address these issues, this paper designs an ensemble diverse hypotheses (EDH) and knowledge distillation (EDHKD) method. EDH mitigates the cross-subject divergence by training feature generators to minimize the upper bound of the classification discrepancy among multiple classifiers. EDH also maximizes the discrepancy among multiple feature generators to learn diverse and complete features. After training EDH, a lightweight student network (EDHKD) distills the knowledge from EDH to a single feature generator and classifier to significantly decrease the model size but remain accurate. The performance of EDHKD is theoretically demonstrated and experimentally validated. Results show that EDH can learn diverse features and adapt well to unknown target subjects. With only soft labels provided by EDH, the student network (EDHKD) can inherit the knowledge learned by EDH and classify unlabeled target data of a 2D moon dataset and two human locomotion datasets with the accuracy at 96.9%, 94.4%, and 97.4%, respectively, in no longer than 1 millisecond. Compared to the benchmark method, EDHKD lifts the target-domain classification accuracy by 1.3% and 7.1% in the two human locomotion datasets. EDHKD also stabilizes learning curves. Therefore, EDHKD significantly increases the generalization ability and efficiency of the HIP and HAR. | [Zhang, Kuangen; Chen, Xinxing; Leng, Yuquan; Fu, Chenglong] Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen Key Lab Biomimet Robot & Intelligent Syst, Shenzhen 518055, Peoples R China; [Zhang, Kuangen; Chen, Xinxing; Leng, Yuquan; Fu, Chenglong] Southern Univ Sci & Technol, Guangdong Prov Key Lab Human Augmentat & Rehabil R, Shenzhen 518055, Peoples R China; [Zhang, Kuangen; Chen, Jiahong; de Silva, Clarence W.] Univ British Columbia, Dept Mech Engn, Vancouver, BC, Canada; [Wang, Jing] Univ British Columbia, Dept Elect & Comp Engn, Vancouver, BC, Canada | Southern University of Science & Technology; Southern University of Science & Technology; University of British Columbia; University of British Columbia | Fu, CL (corresponding author), Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen Key Lab Biomimet Robot & Intelligent Syst, Shenzhen 518055, Peoples R China. | National Natural Science Foundation of China (NSFC) | 5 | MAY | 2023 | 10.1016/j.inffus.2022.12.023 | http://dx.doi.org/10.1016/j.inffus.2022.12.023 |
75 | J | Eslamy, M; Schilling, AF | Eslamy, Mahdy; Schilling, Arndt F. | Estimation of knee and ankle angles during walking using thigh and shank angles | BIOINSPIRATION & BIOMIMETICS | estimation of knee angles; estimation of ankle angles; gait variable estimations; wavelets-based joint angle estimation | Estimation of joints' trajectories is commonly used in human gait analysis, and in the development of motion planners and high-level controllers for prosthetics, orthotics, exoskeletons and humanoids. Human locomotion is the result of the cooperation between leg joints and limbs. This suggests the existence of underlying relationships between them which lead to a harmonic gait. In this study we aimed to estimate knee and ankle trajectories using thigh and shank angles. To do so, an estimation approach was developed that continuously mapped the inputs to the outputs, which did not require switching rules, speed estimation, gait percent identification or look-up tables. The estimation algorithm was based on a nonlinear auto-regressive model with exogenous inputs. The method was then combined with wavelets theory, and then the two were used in a neural network. To evaluate the estimation performance, three scenarios were developed which used only one source of inputs (i.e., only shank angles or only thigh angles). First, knee angles theta (k) (outputs) were estimated using thigh angles theta (th) (inputs). Second, ankle angles theta (a) (outputs) were estimated using thigh angles theta (sh) (inputs), and third, the ankle angles were estimated using shank angles (inputs). The proposed approach was investigated for 22 subjects at different walking speeds and the leave-one-subject-out procedure was used for training and testing the estimation algorithm. Average root mean square errors were 3.9 degrees-5.3 degrees and 2.1 degrees-2.3 degrees for knee and ankle angles, respectively. Average mean absolute errors (MAEs) MAEs were 3.2 degrees-4 degrees and 1.7 degrees-1.8 degrees, and average correlation coefficients rho (cc) were 0.95-0.98 and 0.94-0.96 for knee and ankle angles, respectively. The limitations and strengths of the proposed approach are discussed in detail and the results are compared with several studies. | [Eslamy, Mahdy; Schilling, Arndt F.] Univ Med Gottingen UMG, Dept Trauma Surg Orthopaed & Plast Surg, Appl Rehabil Technol ART Lab, D-37075 Gottingen, Germany | Eslamy, M (corresponding author), Univ Med Gottingen UMG, Dept Trauma Surg Orthopaed & Plast Surg, Appl Rehabil Technol ART Lab, D-37075 Gottingen, Germany. | Bundesministerium fur Bildung und Forschung (BMBF)(Federal Ministry of Education & Research (BMBF)) | 7 | NOV | 2021 | 10.1088/1748-3190/ac245f | http://dx.doi.org/10.1088/1748-3190/ac245f | |
76 | J | Stafford, NE; Gonzalez, EB; Ferris, DP | Stafford, Nicole E.; Gonzalez, Eddie B.; Ferris, Daniel P. | Evaluation of a Portable Bionic Ankle Prosthesis Under Direct Continuous Electromyography Control for Quiet Standing Tasks | JOURNAL OF PROSTHETICS AND ORTHOTICS | myoelectric control; postural control; open source leg | IntroductionPostural control and balance are necessary for activities of daily living. Passive prostheses that reduce ankle dorsiflexion/plantarflexion control can require different balance strategies compared with able-bodied individuals. Powered prostheses may restore ankle joint control and improve balance compared with passive prostheses. Muscle activity as the prosthetic control input leverages the human neural control system to directly modulate prosthetic dynamics. This study evaluates continuous myoelectric control during quiet standing tasks with an untethered electromechanically actuated bionic ankle prosthesis.MethodsSix individuals with transtibial amputation conducted four 30-second trials of quiet standing for four standing conditions (Eyes Open, Eyes Closed, Eyes Open Foam, and Eyes Closed Foam) using their passive, prescribed prosthesis and a bionic prosthesis under two types of myoelectric control. One strategy solely used residual gastrocnemius muscle as input (GAS), whereas the second used the gastrocnemius and tibialis anterior (GAS+TA). Postural stability was evaluated via Total Excursion, Body Sway Area, and Prediction Ellipse Area center of pressure measures from force plates. We hypothesized that the bionic prosthesis would improve balance control compared with the passive prosthesis. We also quantified weight bearing of prosthetic and sound limbs. Participants completed a preference/sense of stability survey between the prostheses.ResultsWe found no significant differences in individual prostheses and controllers across our four standing conditions, or between prostheses and controllers for a single standing condition for all center of pressure measures. Participants tended to increase weight on their sound limb from Eyes Open to Eyes Closed Foam conditions. Participants trended toward preferring myoelectric control, but there were no significant differences among prostheses.ConclusionsCompared with a passive transtibial prosthesis, a myoelectrically controlled bionic prosthesis did not alter standing balance performance.Clinical RelevanceOur study did not demonstrate differences between the myoelectrically controlled bionic transtibial prosthesis and the prescribed passive prosthesis in balance control. It is possible that other metrics would be necessary to increase sensitivity in comparisons. | [Stafford, Nicole E.] Univ Florida, Dept Mech & Aerosp Engn, Gainesville, FL USA; [Stafford, Nicole E.; Ferris, Daniel P.] Univ Florida, Dept Biomed Engn, 1275 Ctr Dr,Biomed Sci Bldg JG56,POB 116131,, Gainesville, FL 32611 USA | State University System of Florida; University of Florida; State University System of Florida; University of Florida | Stafford, NE (corresponding author), Univ Florida, Dept Biomed Engn, 1275 Ctr Dr,Biomed Sci Bldg JG56,POB 116131,, Gainesville, FL 32611 USA. | National Institutes of Health (NIH) | 0 | JUL | 2025 | 10.1097/JPO.0000000000000533 | http://dx.doi.org/10.1097/JPO.0000000000000533 |
77 | C | Domínguez-Ruiz, A; López-Caudana, EO; Loyola, O; Ponce-Cruz, P | Dominguez-Ruiz, Adan; Omar Lopez-Caudana, Edgar; Loyola, Oscar; Ponce-Cruz, Pedro | Exploring Complex Human-Prosthetic Interactions: Musculoskeletal Models for Biomechanical Analysis | 2024 20TH INTERNATIONAL SYMPOSIUM ON MEDICAL INFORMATION PROCESSING AND ANALYSIS, SIPAIM 2024 | locomotion; transtibial-prosthesis; low-limb biomechanics; reinforcement learning; musculoskeletal model; myosuite; higher education | In prosthetic development, particularly for individuals with transtibial amputations, the accurate simulation and replication of natural human gait mechanisms pose significant challenges. This paper addresses these challenges by validating a novel musculoskeletal model designed for transtibial prosthetic users using advanced simulation environments such as MyoSuite, OpenSim, and Scone. The study aims to identify the strengths and limitations of each platform in representing the biomechanical properties of prosthetic gait, compare their kinematic accuracy, and analyze the effectiveness of machine learning algorithms in generating stable and adaptive gait patterns. Initial static motion tests demonstrated that the models could maintain balance for 10 seconds, with effective tracking of the Center of Mass (CoM). Disturbance tests further highlighted the models' ability to respond adaptively to external forces. The results indicate that while OpenSim excels in detailed musculoskeletal modeling, MyoSuite and Scone provide superior adaptability and real-time control capabilities, especially when enhanced with reinforcement learning algorithms. These findings contribute valuable insights for the design and development of more effective prosthetic devices, ultimately improving the quality of life for individuals with transtibial amputations. | [Dominguez-Ruiz, Adan; Omar Lopez-Caudana, Edgar] Inst Tecnol Monterrey, Inst Future Educ, Mexico City, DF, Mexico; [Loyola, Oscar] Univ Autonoma Chile, Fac Ingn, Santiago, Chile; [Ponce-Cruz, Pedro] Inst Tecnol Monterrey, Inst Adv Mat Sustainable Mfg, Mexico City, DF, Mexico | Tecnologico de Monterrey; Universidad Autonoma de Chile; Tecnologico de Monterrey | Domínguez-Ruiz, A (corresponding author), Inst Tecnol Monterrey, Inst Future Educ, Mexico City, DF, Mexico. | Tecnologico de Monterrey, Mexico | 0 | 2024 | 10.1109/SIPAIM62974.2024.10783535 | http://dx.doi.org/10.1109/SIPAIM62974.2024.10783535 | |
78 | J | Eveld, ME; King, ST; Zelik, KE; Goldfarb, M | Eveld, Maura E.; King, Shane T.; Zelik, Karl E.; Goldfarb, Michael | Factors leading to falls in transfemoral prosthesis users: a case series of sound-side stumble recovery responses | JOURNAL OF NEUROENGINEERING AND REHABILITATION | Stumble recovery; Trip; Transfemoral prosthesis; Fall prevention | Background Transfemoral prosthesis users' high fall rate is related to increased injury risk, medical costs, and fear of falling. Better understanding how stumble conditions (e.g., participant age, prosthesis type, side tripped, and swing phase of perturbation) affect transfemoral prosthesis users could provide insight into response deficiencies and inform fall prevention interventions. Methods Six unilateral transfemoral prosthesis users experienced obstacle perturbations to their sound limb in early, mid, and late swing phase. Fall outcome, recovery strategy, and kinematics of each response were recorded to characterize (1) recoveries versus falls for transfemoral prosthesis users and (2) prosthesis user recoveries versus healthy adult recoveries. Results Out of 26 stumbles, 15 resulted in falls with five of six transfemoral prosthesis users falling at least once. By contrast, in a previously published study of seven healthy adults comprising 214 stumbles using the same experimental apparatus, no participants fell. The two oldest prosthesis users fell after every stumble, stumbles in mid swing resulted in the most falls, and prosthesis type was not related to strategy/fall outcomes. Prosthesis users who recovered used the elevating strategy in early swing, lowering strategy in late swing, and elevating or lowering/delayed lowering with hopping in mid swing, but exhibited increased contralateral (prosthetic-side) thigh abduction and trunk flexion relative to healthy controls. Falls occurred if the tripped (sound) limb did not reach ample thigh/knee flexion to sufficiently clear the obstacle in the elevating step, or if the prosthetic limb did not facilitate a successful step response after the initial sound-side elevating or lowering step. Such responses generally led to smaller step lengths, less anterior foot positioning, and more forward trunk flexion/flexion velocity in the resulting foot-strikes. Conclusions Introducing training (e.g., muscle strength or task-specific motor skill) and/or modifying assistive devices (e.g., lower-limb prostheses or exoskeletons) may improve responses for transfemoral prosthesis users. Specifically, training or exoskeleton assistance could help facilitate sufficient thigh/knee flexion for elevating; training or prosthesis assistance could provide support-limb counteracting torques to aid in elevating; and training or prosthesis assistance could help initiate and safely complete prosthetic swing. | [Eveld, Maura E.; King, Shane T.; Zelik, Karl E.; Goldfarb, Michael] Vanderbilt Univ, Dept Mech Engn, Nashville, TN 37235 USA; [Zelik, Karl E.] Vanderbilt Univ, Dept Biomed Engn, Nashville, TN 37235 USA; [Zelik, Karl E.; Goldfarb, Michael] Vanderbilt Univ, Dept Phys Med & Rehabil, Nashville, TN 37235 USA; [Goldfarb, Michael] Vanderbilt Univ, Dept Elect Engn, Nashville, TN 37235 USA | Vanderbilt University; Vanderbilt University; Vanderbilt University; Vanderbilt University | Eveld, ME (corresponding author), Vanderbilt Univ, Dept Mech Engn, Nashville, TN 37235 USA. | National Institutes of Health (NIH) | 10 | SEP 23 | 2022 | 10.1186/s12984-022-01070-y | http://dx.doi.org/10.1186/s12984-022-01070-y |
79 | J | Yu, XS; Pei, ZG | Yu, Xisheng; Pei, Zeguang | Feature Decoupling for Multimodal Locomotion and Estimation of Knee and Ankle Angles Implemented by Multi-Model Fusion | IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING | Intelligent assistive devices; motion intent recognition; multimodal locomotion decoupling; joint angle estimation | Many challenges exist in the study of using orthotics, exoskeletons or exosuits as tools for rehabilitation and assistance of healthy people in daily activities due to the requirements of portability and safe interaction with the user and the environment. One approach to dealing with these challenges is to design a control system that can be deployed in a portable device to identify the relationships that exist between the gait variables and gait cycle for different locomotion modes. In order to estimate the knee and ankle angles in the sagittal plane for different locomotion modes, a novel multimodal feature-decoupled kinematic estimation system consisting of a multimodal locomotion classifier and an optimal joint angle estimator is proposed in this paper. The multi-source information output from different conventional primary models are fused by assigning the non-fixed weight. To improve the performance of the primary models, a data augmentation module based on the time-frequency domain analysis method is designed. The results show that the inclusion of the data augmentation module and multi-source information fusion modules has improved the classification accuracy to 98.56% and kinematic estimation performance (PCC) to 0.904 (walking), 0.956 (running), 0.899 (stair ascent), 0.851 (stair descent), respectively. The kinematic estimation quality is generally higher for faster speed (running) or proximal joint (knee) compared to other modes and ankle. The limitations and advantages of the proposed approach are discussed. Based on our findings, the multimodal kinematic estimation system has potential in facilitating the deployment for human-in-loop control of lower-limb intelligent assistive devices. | [Yu, Xisheng; Pei, Zeguang] Donghua Univ, Coll Mech Engn, Shanghai 201620, Peoples R China | Donghua University | Pei, ZG (corresponding author), Donghua Univ, Coll Mech Engn, Shanghai 201620, Peoples R China. | Fundamental Research Funds for the Central Universities(Fundamental Research Funds for the Central Universities) | 0 | 2024 | 10.1109/TNSRE.2024.3416530 | http://dx.doi.org/10.1109/TNSRE.2024.3416530 | |
80 | J | Kalita, AJ; Chanu, MP; Kakoty, NM; Vinjamuri, RK; Borah, S | Kalita, Amlan Jyoti; Chanu, Maibam Pooya; Kakoty, Nayan M.; Vinjamuri, Ramana Kumar; Borah, Satyajit | Functional evaluation of a real-time EMG controlled prosthetic hand | WEARABLE TECHNOLOGIES | prosthetic hand; electromyogram; box and block test; pick and place test | Electromyogram (EMG)-controlled prosthetic hands have advanced significantly during the past two decades. However, most of the currently available prosthetic hands fail to replicate human hand functionality and controllability. To measure the emulation of the human hand by a prosthetic hand, it is important to evaluate the functional characteristics. Moreover, incorporating feedback from end users during clinical testing is crucial for the precise assessment of a prosthetic hand. The work reported in this manuscript unfolds the functional characteristics of an EMG-CoNtrolled PRosthetIC Hand called ENRICH. ENRICH is a real-time EMG controlled prosthetic hand that can grasp objects in 250.8 $ \pm $ 1.1 ms, fulfilling the neuromuscular constraint of a human hand. ENRICH is evaluated in comparison to 26 laboratory prototypes and 10 commercial variants of prosthetic hands. The hand was evaluated in terms of size, weight, operation time, weight lifting capacity, finger joint range of motion, control strategy, degrees of freedom, grasp force, and clinical testing. The box and block test and pick and place test showed ENRICH's functionality and controllability. The functional evaluation reveals that ENRICH has the potential to restore functionality to hand amputees, improving their quality of life. | [Kalita, Amlan Jyoti; Chanu, Maibam Pooya; Kakoty, Nayan M.] Tezpur Univ, Embedded Syst & Robot Lab, Tezpur, India; [Vinjamuri, Ramana Kumar] Univ Maryland Baltimore Cty, Vinjamuri Lab, Baltimore, MD USA; [Borah, Satyajit] TIMeS Hosp, Tezpur, India | Tezpur University; University System of Maryland; University of Maryland Baltimore County | Kalita, AJ (corresponding author), Tezpur Univ, Embedded Syst & Robot Lab, Tezpur, India. | IHFC-IIT Delhi; DST, Government of India(Department of Science & Technology (India)) | 0 | APR 7 | 2025 | 10.1017/wtc.2025.7 | http://dx.doi.org/10.1017/wtc.2025.7 |
81 | J | Finucane, SB; Hargrove, LJ; Simon, AM | Finucane, Suzanne B.; Hargrove, Levi J.; Simon, Ann M. | Functional Mobility Training With a Powered Knee and Ankle Prosthesis | FRONTIERS IN REHABILITATION SCIENCES | physical therapy; above-knee amputation; ambulation; robotic prosthesis; rehabilitation; artificial leg; prosthesis training; transfemoral amputation | Limb loss at the transfemoral or knee disarticulation level results in a significant decrease in mobility. Powered lower limb prostheses have the potential to provide increased functional mobility and return individuals to activities of daily living that are limited due to their amputation. Providing power at the knee and/or ankle, new and innovative training is required for the amputee and the clinician to understand the capabilities of these advanced devices. This protocol for functional mobility training with a powered knee and ankle prosthesis was developed while training 30 participants with a unilateral transfemoral or knee disarticulation amputation at a nationally ranked physical medicine and rehabilitation research hospital. Participants received instruction for level-ground walking, stair climbing, incline walking, and sit-to-stand transitions. A therapist provided specific training for each mode including verbal, visual, and tactile cueing along with patient education on the functionality of the device. The primary outcome measure was the ability of each participant to demonstrate independence with walking and sit-to-stand transitions along with modified independence for stair climbing and incline walking due to the use of a handrail. Every individual was successful in comfortable ambulation of level-ground walking and 27 out of 30 were successful in all other functional modes after participating in 1-3 sessions of 1-2 h in length (3 terminated their participation before attempting all activities). As these prosthetic devices continue to advance, therapy techniques must advance as well, and this paper serves as education on new training techniques that can provide amputees with the best possible tools to take advantage of these powered devices to achieve their desired clinical outcomes. | [Finucane, Suzanne B.; Hargrove, Levi J.; Simon, Ann M.] Shirley Ryan Abilitylab, Ctr Bionic Med, Chicago, IL 60611 USA; [Hargrove, Levi J.; Simon, Ann M.] Northwestern Univ, Dept Phys Med & Rehabil, Chicago, IL USA; [Hargrove, Levi J.] Northwestern Univ, Dept Biomed Engn, Chicago, IL USA | Shirley Ryan AbilityLab; Northwestern University; Northwestern University | Finucane, SB (corresponding author), Shirley Ryan Abilitylab, Ctr Bionic Med, Chicago, IL 60611 USA. | National Institutes of Health (NIH) | 9 | APR 11 | 2022 | 10.3389/fresc.2022.790538 | http://dx.doi.org/10.3389/fresc.2022.790538 |
82 | C | Keller, EG; Laubscher, CA; Gregg, RD | Keller, Emily G.; Laubscher, Curt A.; Gregg, Robert D. | Gait Event Detection with Proprioceptive Force Sensing in a Powered Knee-Ankle Prosthesis: Validation over Walking Speeds and Slopes | 2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2023) | Many powered prosthetic devices use load cells to detect ground interaction forces and gait events. These sensors introduce additional weight and cost in the device. Recent proprioceptive actuators enable an algebraic relationship between actuator torques and ground contact forces. This paper presents a proprioceptive force sensing paradigm which estimates ground reaction forces as a solution to detect gait events without a load cell. A floating body dynamic model is obtained with constraints at the center of pressure representing footground interaction. Constraint forces are derived to estimate ground reaction forces and subsequently timing of gait events. A treadmill experiment is conducted with a powered knee-ankle prosthesis used by an able-bodied subject walking at various speeds and slopes. Results show accurate gait event timing, with pooled data showing heel strike detection lagging by only 6.7 +/- 7.2 ms and toe off detection leading by 30.4 +/- 11.0 ms compared to values obtained from the load cell. These results establish proof of concept for predicting gait events without a load cell in powered prostheses with proprioceptive actuators. | [Keller, Emily G.; Laubscher, Curt A.; Gregg, Robert D.] Univ Michigan, Dept Robot, Ann Arbor, MI 48109 USA | University of Michigan System; University of Michigan | Keller, EG (corresponding author), Univ Michigan, Dept Robot, Ann Arbor, MI 48109 USA. | National Institutes of Health (NIH) | 1 | 2023 | 10.1109/ICRA48891.2023.10161102 | http://dx.doi.org/10.1109/ICRA48891.2023.10161102 | ||
83 | C | Morrison, T; Su, HJ | Morrison, Tyler; Su, Hai-Jun | GAIT PREDICTION FOR PROSTHESIS DESIGN EVALUATION | PROCEEDINGS OF ASME 2022 INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, IDETC-CIE2022, VOL 7 | In this paper, we introduce the key elements of a computational tool and a comprehensive methodology for enabling simulation-informed design of robotic ankle prostheses. Our approach is based on trajectory optimization methods for predicting human walking gait applied to a model of a bilateral lower leg amputee with robotic ankle prostheses. The goal of this simulation tool and design methodology is to provide a means to evaluate the performance of a prosthetic design and its effect on adapting human walking gait before involving human subject studies. The gait prediction problem is formulated as a multi-objective trajectory optimization of a multibody dynamic system within the existing framework of the open-source biomechanics package, OpenSim. Our approach models the effects of a planar human model with legs and torso, Hill-type muscle actuators, a closed-loop linkage for the robotic prosthetic device, and a DC motor dynamics model. To demonstrate the gait prediction process in use for design evaluation, we include a pair of example design evaluation simulations. In the first example, the gait prediction method shows that the initially proposed prosthesis design fails to improve the human effort estimated by cubic muscle excitations. In the second example, after the selection of a different actuator, the gait prediction method shows that the modified design has the potential to relieve some of the effort of walking required from the amputee. These examples combine to demonstrate how our methodology may be useful for design. | [Morrison, Tyler; Su, Hai-Jun] Ohio State Univ, Dept Mech & Aerosp Engn, Columbus, OH 43210 USA | University System of Ohio; Ohio State University | Su, HJ (corresponding author), Ohio State Univ, Dept Mech & Aerosp Engn, Columbus, OH 43210 USA. | 0 | 2022 | |||||
84 | J | Puliti, M; Tessari, F; Galluzzi, R; Amati, N; Tonoli, A; Laffranchi, M | Puliti, Marco; Tessari, Federico; Galluzzi, Renato; Amati, Nicola; Tonoli, Andrea; Laffranchi, Matteo | Highly Compact Swing Assistive Knee Prosthesis Integrating Active and Passive Hydraulic Systems | IEEE ACCESS | Amputation; electro-hydrostatic actuation; knee prosthesis; mechatronics; Amputation; electro-hydrostatic actuation; knee prosthesis; mechatronics | This work proposes a novel partially powered knee prosthesis to give full support to swing related activities. It represents a technological step forward when compared to microprocessor-controlled knees. The device is based on the electro-hydrostatic actuation principle, combined with the use of a series rotary valve to aid during dissipative phases. Another key feature is the backdrivability enabled by a directly coupled fluid-based actuation principle. To this end, we present a compact design that is subsequently built and tested experimentally with an able-body adapter to simulate a real-case scenario of level walking and stair tasks. Results are compared with the features of existing commercial and research devices. To the best of the authors' knowledge, the proposed prosthesis is the most compact electro-hydrostatic swing assistive device with the potential to improve the walking gait, for instance by increasing toe clearance and likely reducing the occurrence of stumbling or falling events. Additionally, the prototype enables stair ascent in a step-over fashion, a capability generally unattainable with commercial microprocessor-controlled knees. | [Puliti, Marco; Laffranchi, Matteo] Italian Inst Technol, Rehab Technol INAIL IIT Lab, I-16163 Genoa, Italy; [Tessari, Federico] MIT, Lab Biomech & Human Rehabil, Cambridge, MA 02139 USA; [Galluzzi, Renato] Tecnol Monterrey, Sch Engn & Sci, Mexico City 14380, Mexico; [Amati, Nicola; Tonoli, Andrea] Politecn Torino, Ctr Automot Res & Sustainable Mobil CARS, I-10129 Turin, Italy | Istituto Italiano di Tecnologia - IIT; Massachusetts Institute of Technology (MIT); Tecnologico de Monterrey; Polytechnic University of Turin | Galluzzi, R (corresponding author), Tecnol Monterrey, Sch Engn & Sci, Mexico City 14380, Mexico. | Istituto Nazionale per l'Assicurazione contro gli Infortuni sul Lavoro (INAIL) | 0 | 2025 | 10.1109/ACCESS.2025.3567881 | http://dx.doi.org/10.1109/ACCESS.2025.3567881 | |
85 | J | Lv, Y; Zhang, W; Zhang, XX; Xu, J | Lv, Yang; Zhang, Wen; Zhang, Xiaoxu; Xu, Jian | Hip-Knee Motion-Lagged Coordination Mapping Enables Speed Adaptive Walking for Powered Knee Prosthesis | IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING | Joint coordination; motion lag; gait planning; biomimetic gait; lower-limb prosthesis; Joint coordination; motion lag; gait planning; biomimetic gait; lower-limb prosthesis | The commonly used finite-state-machine (FSM) impedance control for powered prostheses deploys diverse control parameters according to different gait phases, resulting in dozens of parameter adjustments and possible gait phase misrecognition. In contrast, this study presents a straightforward, continuous, and speed-adaptive control approach based on hip-knee motion-lagged coordination mapping (MLCM). The mapping, featured by the motion lag, can effectively generate the prosthetic knee's goal gait within a second-order polynomial. It is also verified from extensive gait analysis that the motion lag and polynomial coefficients evolve linearly with respect to walking speed and gait period, promising a simple real-time deployment for prosthesis control. Experimental validation with two non-disabled subjects and two transfemoral amputees wearing a prosthesis demonstrates the MLCM controller's ability to reduce the hip compensatory behavior, generate biomimetic knee kinematics, stance phase time, stride length, and hip-knee motion coordination across various speeds. Furthermore, compared to the benchmark FSM impedance controller, the MLCM controller reduces the number of control parameters from 17 to 7 and avoids misrecognition during gait phase transitions. | [Lv, Yang; Zhang, Wen; Xu, Jian] Fudan Univ, Acad Engn & Technol, Shanghai 200433, Peoples R China; [Zhang, Xiaoxu] Fudan Univ, Acad Engn & Technol, MOE Frontiers Ctr Brain Sci, Shanghai 200433, Peoples R China; [Zhang, Xiaoxu] Fudan Univ, Yiwu Res Inst, Yiwu 322000, Peoples R China | Fudan University; Fudan University; Fudan University | Zhang, XX (corresponding author), Fudan Univ, Acad Engn & Technol, MOE Frontiers Ctr Brain Sci, Shanghai 200433, Peoples R China. | National Natural Science Foundation of China (NSFC) | 1 | 2024 | 10.1109/TNSRE.2024.3435931 | http://dx.doi.org/10.1109/TNSRE.2024.3435931 | |
86 | J | Puliti, M; Marsh, DM; Goldfarb, M | Puliti, Marco; Marsh, David M.; Goldfarb, Michael | Homogeneous Dynamic Control for Stair Ascent in a Swing-Assist Knee Prosthesis | IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS | Transfemoral knee prosthesis; prosthesis; amputation; stair ascent; powered; biomechanics; Transfemoral knee prosthesis; prosthesis; amputation; stair ascent; powered; biomechanics | Stair ascent is a challenging task for people with transfemoral amputation. It can be made substantially easier with a swing-assist prosthesis, actively supplementing the prosthesis nominally passive behavior to help the user place their foot on the next stair tread. A significant control challenge is providing power without competing with the user's agency during the swing-phase movement. This paper presents a new control approach for stair ascent swing-phase assistance in swing-assist prostheses. The approach is designed to supplement swing-phase movement with power without introducing an additional exogenous control input, leaving the user as the sole source of prosthesis movement. Namely, this is achieved by adding power to modify the homogeneous dynamics of the prosthesis's passive behavior. This control approach is developed in the paper, implemented on an experimental prosthesis, and assessed in stair ascent trials with three unilateral transfemoral amputees, comparing it with their daily-use device. Experimental results demonstrate, for step-over stair ascent aggregated across participants, the proposed approach: 1) increased peak knee angle by a factor of 2.5; 2) improved symmetry from 41% to 84% (where 100% is perfectly symmetric); and 3) required 2 times less hip effort to achieve a given knee motion, all relative to daily-use prostheses. | [Puliti, Marco; Marsh, David M.; Goldfarb, Michael] Vanderbilt Univ, Dept Mech Engn, Nashville, TN 37235 USA; [Puliti, Marco] Italian Inst Technol, Rehab Technol IIT INAIL Lab, I-16163 Genoa, Italy | Vanderbilt University; Istituto Italiano di Tecnologia - IIT | Puliti, M (corresponding author), Vanderbilt Univ, Dept Mech Engn, Nashville, TN 37235 USA. | 1 | NOV | 2024 | 10.1109/TMRB.2024.3465024 | http://dx.doi.org/10.1109/TMRB.2024.3465024 | |
87 | J | Xia, HS; Pi, M; Jin, LJ; Song, R; Li, ZJ | Xia, Haisheng; Pi, Ming; Jin, Lingjing; Song, Rong; Li, Zhijun | Human Collaborative Control of Lower-Limb Prosthesis Based on Game Theory and Fuzzy Approximation | IEEE TRANSACTIONS ON CYBERNETICS | Fuzzy logic system; game theory; human-robot interaction; robotic prosthesis; Fuzzy logic system; game theory; human-robot interaction; robotic prosthesis | For leg prosthesis user, the soft tissue and skin under the stump of are not accustomed to weight bearing, excessive continuous contact pressure can lead to the risk of degenerative tissue ulceration. This article presents a novel human-robot collaborative control scheme that achieves control weight self-adjustment for robotic prostheses to minimize interaction torque. To establish the human-robot interaction relationship, we regard the contact pressure between human residual limb and the prosthetic receiving cavity as the interaction force. We aim at reducing the interaction force under the premise of minimally changing the original motion trajectory of the robotic prosthesis. The control scheme mainly includes trajectory optimization based on a dual-agent game control scheme under a cooperative relationship, and a fuzzy logic system for improving the control accuracy of trajectory tracking of robotic prostheses with unknown dynamic parameters. Experiments were carried out on two amputee participants to verify the proposed human-robot interactive control scheme in a robotic prosthesis. The results show that the interaction torque could be reduced while maintaining minimal trajectory tracking error. The proposed control scheme could potentially facilitate the dexterous manipulation of leg prostheses, thus benefiting amputees. | [Xia, Haisheng; Li, Zhijun] Tongji Univ, Shanghai Yangzhi Rehabil Hosp, Translat Res Ctr, Shanghai Sunshine Rehabil Ctr,Sch Mech Engn, Shanghai 201804, Peoples R China; [Pi, Ming] Southwest Univ Sci & Technol, Sch Informat Engn, Mianyang 621010, Peoples R China; [Jin, Lingjing] Tongji Univ, Shanghai Yangzhi Rehabil Hosp, Shanghai Sunshine Rehabil Ctr, Shanghai 201619, Peoples R China; [Song, Rong] Sun Yat Sen Univ, Sch Biomed Engn, Key Lab Sensing Technol & Biomed Instrument Guangd, Shenzhen Campus, Shenzhen 518107, Peoples R China | Tongji University; Southwest University of Science & Technology - China; Tongji University; Sun Yat Sen University | Li, ZJ (corresponding author), Tongji Univ, Shanghai Yangzhi Rehabil Hosp, Translat Res Ctr, Shanghai Sunshine Rehabil Ctr,Sch Mech Engn, Shanghai 201804, Peoples R China. | National Natural Science Foundation of China (NSFC) | 1 | JAN | 2025 | 10.1109/TCYB.2024.3483148 | http://dx.doi.org/10.1109/TCYB.2024.3483148 |
88 | J | Berettoni, A; Driessen, JJM; Puliti, M; Barresi, G; De Benedictis, C; Ferraresi, C; Laffranchi, M | Berettoni, Andrea; Driessen, Josephus J. M.; Puliti, Marco; Barresi, Giacinto; De Benedictis, Carlo; Ferraresi, Carlo; Laffranchi, Matteo | Human-Centered Design Trade-Offs for Semi-Powered Knee Prostheses: A Review | IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS | Prosthetics; Knee; Stairs; Legged locomotion; Robustness; Limbs; Torque; Surveys; Pain; Medical robotics; Biomechanics; human-centered; semi-powered; transfemoral; prosthesis | For many decades, developments of knee prostheses have shown a dichotomy regarding fundamental working principles. The industry has mainly emphasized on quasi-passive hydraulic solutions, whereas most research works have focused on powered devices, employing electric actuation. The former have an energetically passive effect at the knee joint, for which they often lack in providing versatility and movement robustness for the wearer. Powered prostheses can address these deficiencies, but are often rejected as they struggle to fulfill other user needs (e.g., weight and acoustic noise). Correspondingly, recent studies have emerged that attempt to significantly attenuate the deficiencies of fully powered prosthesis knees, partially sacrificing on device versatility. Recognizing the state-of-the art difficulties in balancing active assistance and user needs fulfilment, this work analyses human-centered design perspectives and their prospects for prosthetic development, in light of the often diverging user needs. We conclude that various types of both explored and yet unexplored semi-powered solutions may have the potential to provide the better trade-off between quasi-passive and fully powered prosthetic devices. | [Berettoni, Andrea; Driessen, Josephus J. M.; Puliti, Marco; Barresi, Giacinto] Italian Inst Technol, Rehab Technol IIT INAIL Lab, I-16163 Genoa, Italy; [Berettoni, Andrea; De Benedictis, Carlo; Laffranchi, Matteo] Polytech Univ Turin, Dept Mech & Aerosp Engn, I-10129 Turin, Italy; [Barresi, Giacinto] Univ West England, Bristol Robot Lab, Bristol BS16 1QY, England | Istituto Italiano di Tecnologia - IIT; Polytechnic University of Turin; University of West England; University of Bristol | Berettoni, A (corresponding author), Italian Inst Technol, Rehab Technol IIT INAIL Lab, I-16163 Genoa, Italy. | Istituto Nazionale per l'Assicurazione contro gli Infortuni sul Lavoro (INAIL) | 0 | MAY | 2025 | 10.1109/TMRB.2025.3550655 | http://dx.doi.org/10.1109/TMRB.2025.3550655 |
89 | C | Best, TK; Laubscher, CA; Cortino, RJ; Cheng, SH; Gregg, RD | Best, T. Kevin; Laubscher, Curt A.; Cortino, Ross J.; Cheng, Shihao; Gregg, Robert D. | Improving Amputee Endurance over Activities of Daily Living with a Robotic Knee-Ankle Prosthesis: A Case Study | 2023 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IROS | Robotic knee-ankle prostheses have often fallen short relative to passive microprocessor prostheses in time-based clinical outcome tests. User ambulation endurance is an alternative clinical outcome metric that may better highlight the benefits of robotic prostheses. However, previous studies were unable to show endurance benefits due to inaccurate high-level classification, discretized mid-level control, and insufficiently difficult ambulation tasks. In this case study, we present a phase-based mid-level prosthesis controller which yields biomimetic joint kinematics and kinetics that adjust to suit a continuum of tasks. We enrolled an individual with an above-knee amputation and challenged him to perform repeated, rapid laps of a circuit comprising activities of daily living with both his passive prosthesis and a robotic prosthesis. The participant demonstrated improved endurance with the robotic prosthesis and our mid-level controller compared to his passive prosthesis, completing over twice as many total laps before fatigue and muscle discomfort required him to stop. We also show that time-based outcome metrics fail to capture this endurance improvement, suggesting that alternative metrics related to endurance and fatigue may better highlight the clinical benefits of robotic prostheses. | [Best, T. Kevin; Laubscher, Curt A.; Cortino, Ross J.; Cheng, Shihao; Gregg, Robert D.] Univ Michigan, Dept Robot, Ann Arbor, MI 48109 USA | University of Michigan System; University of Michigan | Best, TK (corresponding author), Univ Michigan, Dept Robot, Ann Arbor, MI 48109 USA. | National Institutes of Health (NIH) | 1 | 2023 | 10.1109/IROS55552.2023.10341643 | http://dx.doi.org/10.1109/IROS55552.2023.10341643 | ||
90 | C | Simon, AM; Anarwala, S; Abdou, K; Hargrove, LJ | Simon, Ann M.; Anarwala, Shawana; Abdou, Kayan; Hargrove, Levi J. | Improving Device Testing Efficiency in Prosthetic Research: The Impact of an Automated Robustness Testing Protocol | 2024 10TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE FOR BIOMEDICAL ROBOTICS AND BIOMECHATRONICS, BIOROB 2024 | Resource constraints are common in prosthetic device research, and research and development inevitably occurs simultaneously. Managing the balance between device upgrades, repairs, and ensuring reliability for participant use present a continuous challenge. This paper introduces an automated robustness testing protocol designed to assess device performance and reliability. The protocol was designed to validate software updates, identify issues, and ensure consistency across prototypes and repairs. We used this method to test new design and software iterations to an active leg system. The protocol was used to successfully identify and address potential issues before participant sessions including deviations in sensors, disconnecting wires, and software bugs. It was also used to demonstrate consistency in mechanical responses across multiple prototypes of the active leg system. Our results show that this method has the capability to identify potential issues before participant sessions, ensuring smoother research workflows and minimizing disruptions during participant use. | [Simon, Ann M.; Anarwala, Shawana; Abdou, Kayan; Hargrove, Levi J.] Shirley Ryan AbilityLab, Chicago, IL 60611 USA; [Simon, Ann M.; Hargrove, Levi J.] Northwestern Univ, Dept Phys Med & Rehabil, Chicago, IL 60611 USA; [Hargrove, Levi J.] Northwestern Univ, Dept Biomed Engn, Evanston, IL 60208 USA | Shirley Ryan AbilityLab; Northwestern University; Northwestern University | Simon, AM (corresponding author), Shirley Ryan AbilityLab, Chicago, IL 60611 USA. | National Institutes of Health (NIH) | 0 | 2024 | 10.1109/BIOROB60516.2024.10719785 | http://dx.doi.org/10.1109/BIOROB60516.2024.10719785 | ||
91 | J | Li, LR; Wang, XM; Meng, QL; Chen, CL; Sun, J; Yu, HL | Li, Linrong; Wang, Xiaoming; Meng, Qiaoling; Chen, Changlong; Sun, Jie; Yu, Hongliu | Intelligent Knee Prostheses: A Systematic Review of Control Strategies | JOURNAL OF BIONIC ENGINEERING | Intelligent knee prosthesis; Finite-state machine; Volitional control; Sensor system; Intent recognition; Parameter tuning | The intelligent knee prosthesis is capable of human-like bionic lower limb control through advanced control systems and artificial intelligence algorithms that will potentially minimize gait limitations for above-knee amputees and facilitate their reintegration into society. In this paper, we sum up the control strategies corresponding to the prevailing control objectives (position and impedance) of the current intelligent knee prosthesis. Although these control strategies have been successfully implemented and validated in relevant experiments, the existing deficiencies still fail to achieve optimal performance of the controllers, which complicates the definition of a standard control method. Before a mature control system can be developed, it is more important to realize the full potential for the control strategy, which requires upgrading and refining the relevant key technologies based on the existing control methods. For this reason, we discuss potential areas for improvement of the prosthetic control system based on the summarized control strategies, including intent recognition, sensor system, prosthetic evaluation, and parameter optimization algorithms, providing future directions toward optimizing control strategies for the next generation of intelligent knee prostheses. | [Li, Linrong; Wang, Xiaoming; Meng, Qiaoling; Chen, Changlong; Sun, Jie; Yu, Hongliu] Univ Shanghai Sci & Technol, Inst Rehabil Engn & Technol, 516 Jungong Rd, Shanghai 200093, Peoples R China; [Li, Linrong; Wang, Xiaoming; Meng, Qiaoling; Chen, Changlong; Sun, Jie; Yu, Hongliu] Shanghai Engn Res Ctr Assist Devices, Shanghai 200093, Peoples R China; [Li, Linrong; Wang, Xiaoming; Meng, Qiaoling; Chen, Changlong; Sun, Jie; Yu, Hongliu] Minist Civil Affairs, Key Lab Neural Funct Informat & Rehabil Engn, Shanghai 200093, Peoples R China | University of Shanghai for Science & Technology | Yu, HL (corresponding author), Univ Shanghai Sci & Technol, Inst Rehabil Engn & Technol, 516 Jungong Rd, Shanghai 200093, Peoples R China.;Yu, HL (corresponding author), Shanghai Engn Res Ctr Assist Devices, Shanghai 200093, Peoples R China.;Yu, HL (corresponding author), Minist Civil Affairs, Key Lab Neural Funct Informat & Rehabil Engn, Shanghai 200093, Peoples R China. | National Natural Science Foundation of China (NSFC) | 11 | SEP | 2022 | 10.1007/s42235-022-00169-1 | http://dx.doi.org/10.1007/s42235-022-00169-1 |
92 | J | He, ZX; Liu, T | He, Zexia; Liu, Tao | Isotropy Optimization of Six-Axis Capacitive Force Sensor With a Large Moment-to-Force Ratio | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT | Ground reaction force; isotropy; large moment-to-force ratio; optimization method; six-axis capacitive force sensor | This article presents a structural isotropy optimization method for six-axis capacitive force sensor with a large moment-to-force ratio to minimize its measuring error in the strong cross-axis coupling task scenario. The isotropic index (condition number) was taken as the design criterion to evaluate the sensor's measuring performance. A single-objective optimized model was established using Box-Behnken experimental design (BBD) and response surface methodology (RSM) to minimize condition number. The optimal values for the geometry dimensions of the elastic body were obtained with the sequential quadratic programming algorithm. The optimized sensor was analyzed numerically and fabricated for experimental verification. As a result of performance optimization, the condition number of the prototype sensor dropped to nearly 1.98, which is close to the solution acquired by the optimal design method. The maximum interference error below 3.32% is a better practical result, compared with other commonly found force sensors, especially considering the higher moment-to-force specification (0.12 $\text{N}\cdot \text{m}$ /N). Finally, to validate the applicability of the optimized prototype, various daily activities were performed to evaluate its dynamic measuring precision of three-dimensional ground reaction force (3-D GRF). The experimental data demonstrate that the prototype sensor can achieve accurate monitoring of 3-D GRF in the strong cross-axis coupling task scenario by applying the isotropy optimization method. | [He, Zexia; Liu, Tao] Zhejiang Univ, Sch Mech Engn, State Key Lab Fluid Power & Mechatron Syst, Hangzhou 310027, Peoples R China | Zhejiang University | Liu, T (corresponding author), Zhejiang Univ, Sch Mech Engn, State Key Lab Fluid Power & Mechatron Syst, Hangzhou 310027, Peoples R China. | National Natural Science Foundation of China (NSFC) | 4 | 2022 | 10.1109/TIM.2022.3218105 | http://dx.doi.org/10.1109/TIM.2022.3218105 | |
93 | J | Hao, TY; Liu, ZX; Liu, H | Hao, Tianyi; Liu, Zhixin; Liu, Hai | Kinematics Bionic Concept Structure Design and Optimization of Vehicle Crash Dummy's Knee Joint: Bionics and Biomechanics Applied in Collision Safety of Cars | APPLIED BIONICS AND BIOMECHANICS | The structural bionicism of the knee joint of an automobile crash dummy is an important factor affecting the accuracy of the dummy's knee displacement and knee flexion angle measurements in automobile crash tests. This study focused mainly on the optimization of the bionic structure of the knee joint of an automobile crash dummy to ensure that the dummy has a kinematic response closer to that of the knee joint of a real human. Forty sets of high-speed photographic images of the sphyrion were acquired by performing a trajectory-measurement test at the lower tibial point. Subsequently, the high-flexion motion trajectory of the knee joint was obtained by solving vector equations and by multicurve fitting. This trajectory, combined with the bionic structure design method, optimized the structure of the existing dummy's knee joint. Thereby, its motion can be altered from a fixed-axis rotation to a non-fixed-axis curve motion close to how the human tibial plateau rotates around the femoral condyle. This increases the degrees of freedom of the dummy's knee joint from two to three. The knee joint structures before and after the optimization were simulated kinematically using a multibody dynamics method. The results showed that the peak of the motion trajectory deviation of the optimized sphyrion decreased from 3.7% to 1.9%, and the average deviation decreased from 2.0% to 0.2%. This indicates that the structural optimization scheme improved the motion bionics of the crash dummy's knee joint. | [Hao, Tianyi; Liu, Hai] Hebei Univ Technol, Sch Mech Engn, Tianjin 300130, Peoples R China; [Hao, Tianyi; Liu, Hai] Hebei Univ Technol, Tianjin Key Lab Power Transmiss & Safety Technol N, Tianjin, Peoples R China; [Liu, Zhixin] China Automot Technol & Res Ctr Co Ltd, Tianjin, Peoples R China | Hebei University of Technology; Hebei University of Technology | Liu, H (corresponding author), Hebei Univ Technol, Sch Mech Engn, Tianjin 300130, Peoples R China.;Liu, H (corresponding author), Hebei Univ Technol, Tianjin Key Lab Power Transmiss & Safety Technol N, Tianjin, Peoples R China. | 2 | MAY 3 | 2023 | 10.1155/2023/6621850 | http://dx.doi.org/10.1155/2023/6621850 | ||
94 | J | Eslamy, M; Rastgaar, M | Eslamy, Mahdy; Rastgaar, Mo | Leg Joints Angle Estimation During Walking Using the Motion of the Posterior Superior Illiac or Greater Trochanter Points | IEEE ACCESS | Legged locomotion; Knee; Hip; Estimation; Thigh; Prosthetics; Trajectory; Orthotics; Estimation of the leg joints' angles; gait analysis; posterior superior illiac or greater trochanter; controller design; prosthetics; orthotics | Estimation of the trajectories of the leg's joints is of importance in gait studies, as well as in the design of motion planners and high-level controllers for exoskeletons, orthotics, prosthetics, and humanoid robots. Human locomotion is a harmonic phenomenon which benefits from collaboration between different parts of the leg. This collaboration, together with taking into account the natural hierarchy in the human body structure, necessitates paying attention to the fact that the motions of the legs' lower limbs are influenced by the motions of the upper ones. Having this point and its potential consequences in mind, this study aims to create a relationship between the legs' joints, and the motion of the posterior superior illiac (PSI) or great trochanter (GTR) points, separately. From anatomical point of view, both of the points are above the ankle, knee, and hip joints. To continuously map the inputs to the outputs, without requiring switching rules, speed estimation, gait percent identification or look-up tables, a nonlinear auto-regressive modeling with wavelets and neural network is used. The proposed approach is investigated for forty-two subjects at different walking speeds. The method is tested for six case studies, in which their root mean square (RMS) errors, mean absolute errors (MAEs) and correlation coefficients rho(cc) are compared. The results show that using GTR point leads to higher estimation accuracy. For instance, in one of the testing case studies, rho(cc) were 0.97, 0.95, 0.91 using GTR point, in comparison to 0.95, 0.93, 0.87 using PSI point, for the hip, knee, and ankle joints, respectively. A similar trend was also observed for root mean squared errors (RMSE) and mean absolute errors (MAEs). In addition, it is found that highest performance occurs in hip angles estimation, and least performance is seen for the ankle joint. Furthermore, the impact of using both velocity and acceleration inputs on the estimation accuracy is also investigated. The results show that using velocity or acceleration of the GTR or PSI inputs leads to relatively similar results. Nonetheless, the results related to the GTR point are in general better. The impacts of using both velocity and acceleration inputs as well as different estimator functions (such as sigmoid function) are also investigated and discussed. | [Eslamy, Mahdy] Teesside Univ, Sch Comp Engn & Digital Technol, Middlesbrough TS1 3BX, England; [Rastgaar, Mo] Purdue Univ, Purdue Polytech Inst, W Lafayette, IN 47907 USA | University of Teesside; Purdue University System; Purdue University | Eslamy, M (corresponding author), Teesside Univ, Sch Comp Engn & Digital Technol, Middlesbrough TS1 3BX, England. | National Science Foundation (NSF) | 1 | 2024 | 10.1109/ACCESS.2024.3414345 | http://dx.doi.org/10.1109/ACCESS.2024.3414345 | |
95 | J | Ingraham, KA; Tucker, M; Ames, AD; Rouse, EJ; Shepherd, MK | Ingraham, Kimberly A.; Tucker, Maegan; Ames, Aaron D.; Rouse, Elliott J.; Shepherd, Max K. | Leveraging user preference in the design and evaluation of lower-limb exoskeletons and prostheses | CURRENT OPINION IN BIOMEDICAL ENGINEERING | Wearable robotics; Prosthetics; Exoskeletons; User preference; Human in the loop | The field of wearable robotics has seen major advances in recent years, largely owing to an intense focus on optimizing device behavior to accomplish a narrow set of objectives. This approach, however, ignores the end user's perceptions, which are often strongly held and may be key to accepting the technology. Consequently, user preference, which is capable of accounting for factors that are difficult to measure but important to the user, has recently emerged as a formally quantifiable outcome metric. In this perspective, we charac-terize the methods recently developed and employed to opti-mize for user preference, describe recent accomplishments in lower-limb wearable robotics research incorporating user preferences, highlight current challenges, and position prefer-ence as an important meta-criterion to guide the development of wearable robotic systems. | [Ingraham, Kimberly A.] Univ Washington, Dept Elect & Comp Engn, Seattle, WA USA; [Tucker, Maegan; Ames, Aaron D.] CALTECH, Dept Mech & Civil Engn, Pasadena, CA USA; [Tucker, Maegan] CALTECH, Dept Comp & Math Sci, Pasadena, CA USA; [Rouse, Elliott J.] Univ Michigan, Dept Robot, Ann Arbor, MI 48105 USA; [Rouse, Elliott J.] Univ Michigan, Dept Mech Engn, Ann Arbor, MI USA; [Shepherd, Max K.] Northeastern Univ, Dept Mech & Ind Engn, Boston, MA 02115 USA; [Shepherd, Max K.] Northeastern Univ, Dept Phys Therapy Movement & Rehabil Sci, Boston, MA 02115 USA | University of Washington; University of Washington Seattle; California Institute of Technology; California Institute of Technology; University of Michigan System; University of Michigan; University of Michigan System; University of Michigan; Northeastern University; Northeastern University | Shepherd, MK (corresponding author), Northeastern Univ, Dept Mech & Ind Engn, Boston, MA 02115 USA.;Shepherd, MK (corresponding author), Northeastern Univ, Dept Phys Therapy Movement & Rehabil Sci, Boston, MA 02115 USA. | 19 | DEC | 2023 | 10.1016/j.cobme.2023.100487 | http://dx.doi.org/10.1016/j.cobme.2023.100487 | |
96 | J | Domínguez-Ruiz, A; López-Caudana, EO; Lugo-González, E; Espinosa-García, FJ; Ambrocio-Delgado, R; García, UD; López-Gutiérrez, R; Alfaro-Ponce, M; Ponce, P | Dominguez-Ruiz, Adan; Omar Lopez-Caudana, Edgar; Lugo-Gonzalez, Esther; Javier Espinosa-Garcia, Francisco; Ambrocio-Delgado, Rocio; Garcia, Ulises D.; Lopez-Gutierrez, Ricardo; Alfaro-Ponce, Mariel; Ponce, Pedro | Low limb prostheses and complex human prosthetic interaction: A systematic literature review | FRONTIERS IN ROBOTICS AND AI | powered prostheses; complex systems; human-prosthetic interaction; control systems; artificial intelligence; lower limb amputation; innovative education; higher education | A few years ago, powered prostheses triggered new technological advances in diverse areas such as mobility, comfort, and design, which have been essential to improving the quality of life of individuals with lower limb disability. The human body is a complex system involving mental and physical health, meaning a dependant relationship between its organs and lifestyle. The elements used in the design of these prostheses are critical and related to lower limb amputation level, user morphology and human-prosthetic interaction. Hence, several technologies have been employed to accomplish the end user's needs, for example, advanced materials, control systems, electronics, energy management, signal processing, and artificial intelligence. This paper presents a systematic literature review on such technologies, to identify the latest advances, challenges, and opportunities in developing lower limb prostheses with the analysis on the most significant papers. Powered prostheses for walking in different terrains were illustrated and examined, with the kind of movement the device should perform by considering the electronics, automatic control, and energy efficiency. Results show a lack of a specific and generalised structure to be followed by new developments, gaps in energy management and improved smoother patient interaction. Additionally, Human Prosthetic Interaction (HPI) is a term introduced in this paper since no other research has integrated this interaction in communication between the artificial limb and the end-user. The main goal of this paper is to provide, with the found evidence, a set of steps and components to be followed by new researchers and experts looking to improve knowledge in this field. | [Dominguez-Ruiz, Adan; Omar Lopez-Caudana, Edgar] Tecnol Monterrey, Inst Future Educ, Mexico City, Mexico; [Lugo-Gonzalez, Esther; Javier Espinosa-Garcia, Francisco] Univ Tecnol Mixteca, Inst Elect & Mecatron, Huajuapan De Leon, Oaxaca, Mexico; [Ambrocio-Delgado, Rocio] Univ Tecnol Mixteca, Div Estudios Posgrad, Huajuapan De Leon, Oaxaca, Mexico; [Garcia, Ulises D.; Lopez-Gutierrez, Ricardo] CONACYT CINVESTAV, Ave Inst Politecn Nacl 2508, Ciudad De Mexico, Mexico; [Alfaro-Ponce, Mariel; Ponce, Pedro] Tecnol Monterrey, Inst Adv Mat Sustainable Mfg, Mexico City, Mexico | Tecnologico de Monterrey; Tecnologico de Monterrey | Ponce, P (corresponding author), Tecnol Monterrey, Inst Adv Mat Sustainable Mfg, Mexico City, Mexico. | Institute for the Future of Education, Tecnologico de Monterrey | 4 | FEB 13 | 2023 | 10.3389/frobt.2023.1032748 | http://dx.doi.org/10.3389/frobt.2023.1032748 |
97 | C | Kim, M; Simon, AM; Shah, K; Hargrove, LJ | Kim, Minjae; Simon, Ann M.; Shah, Kunal; Hargrove, Levi J. | Machine Learning-Based Gait Mode Prediction for Hybrid Knee Prosthesis Control | 2023 45TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE & BIOLOGY SOCIETY, EMBC | Recently, hybrid prosthetic knees, which can combine the advantages of passive and active prosthetic knees, have been proposed for individuals with a transfemoral amputation. Users could potentially take advantage of the passive knee mechanics during walking and the active power generation during stair ascent. One challenge in controlling the hybrid knees is accurate gait mode prediction for seamless transitions between passive and active modes. However, data imbalance between passive and active modes may impact the performance of a classifier. In this study, we used a dataset collected from nine individuals with a unilateral transfemoral amputation as they ambulated over level ground, inclines, and stairs. We evaluated several machine learning-based classifiers on the prediction of passive (level-ground walking, incline walking, descending stairs, and donning and doffing the prosthesis) and active mode (ascending stairs). In addition, we developed a generative adversarial network (GAN) to create synthetic data for improving classification performance. The results indicated that linear discriminant analysis and random forest might be the best classifiers regarding sensitivity to the active mode and overall accuracy, respectively. Further, we demonstrated that using the GAN-based synthetic data for training improves the sensitivity of classifiers. | [Kim, Minjae; Simon, Ann M.; Shah, Kunal; Hargrove, Levi J.] Shirley Ryan AbilityLab, Chicago, IL 60611 USA; [Kim, Minjae; Simon, Ann M.; Hargrove, Levi J.] Northwestern Univ, Dept Phys Med & Rehabil, Chicago, IL 60611 USA; [Hargrove, Levi J.] Northwestern Univ, Dept Biomed Engn, Evanston, IL USA | Shirley Ryan AbilityLab; Northwestern University; Northwestern University | Kim, M (corresponding author), Shirley Ryan AbilityLab, Chicago, IL 60611 USA.;Kim, M (corresponding author), Northwestern Univ, Dept Phys Med & Rehabil, Chicago, IL 60611 USA. | National Institutes of Health (NIH) | 3 | 2023 | 10.1109/EMBC40787.2023.10340388 | http://dx.doi.org/10.1109/EMBC40787.2023.10340388 | ||
98 | J | Feng, YG; Liu, JW; Zhang, WX; Ding, XL; Wang, QN | Feng, Yanggang; Liu, Jiawen; Zhang, Wuxiang; Ding, Xilun; Wang, Qining | Maximum Mechanical Energy and Mechanical-to-Electrical Energy Conversion Efficiency Between Robotic Prostheses and Humans | IEEE-ASME TRANSACTIONS ON MECHATRONICS | Legged locomotion; Robots; MOSFET; Prosthetics; Energy conversion; Copper; Supercapacitors; Conversion boundary; energy conversion efficiency; human dynamics | Wearable robots involve human-robot interactions, and capturing the electrical energy from human dynamics during interactions is gaining increasing interest. However, previous studies have not thoroughly investigated the maximum mechanical energy and the efficiency of mechanical-to-electrical energy conversion between robotic prostheses and humans. In this study, the effects of motor rotation speed omega(mo), pulsewidth modulation (PWM) duty cycle D, replacing mosfet and replacing a motor on efficiency eta were investigated through theoretical analysis, a bench test, and walking experiments (N = 5). The theoretical analysis involved studying the energy flowchart during the mechanical-to-electrical energy conversion using a bench test. Then, walking experiments were conducted and the results showed that replacing a motor led to a 6% and 10% increase in energy regeneration at 1.3 and 1.1 m/s (self-selected), respectively. Based on the efficiency obtained from a bench test and walking experiments, the maximum mechanical power for a robotic prosthesis was obtained and ranged from 4.35 to 8.23 W, which showed the possibility of a 100% self-charged-powered robotic prosthesis. This study presents a feasible approach to analyze and improve the efficiency of mechanical-to-electrical energy conversion between robots and humans. | [Feng, Yanggang; Liu, Jiawen; Zhang, Wuxiang; Ding, Xilun] Beihang Univ, Sch Mech Engn & Automat, Beijing 100191, Peoples R China; [Wang, Qining] Peking Univ, Coll Engn, Dept Adv Mfg & Robot, Beijing 100871, Peoples R China | Beihang University; Peking University | Wang, QN (corresponding author), Peking Univ, Coll Engn, Dept Adv Mfg & Robot, Beijing 100871, Peoples R China. | National Natural Science Foundation of China (NSFC) | 0 | JUN | 2024 | 10.1109/TMECH.2023.3328312 | http://dx.doi.org/10.1109/TMECH.2023.3328312 |
99 | J | Liang, W; Qian, ZH; Chen, W; Song, HA; Cao, Y; Wei, GW; Ren, L; Wang, KY; Ren, LQ | Liang, Wei; Qian, Zhihui; Chen, Wei; Song, Hounan; Cao, Yu; Wei, Guowu; Ren, Lei; Wang, Kunyang; Ren, Luquan | Mechanisms and component design of prosthetic knees: A review from a biomechanical function perspective | FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY | prosthetic knee; transfemoral prosthesis; knee mechanisms; passive knee; above-knee prosthesis | Prosthetic knees are state-of-the-art medical devices that use mechanical mechanisms and components to simulate the normal biological knee function for individuals with transfemoral amputation. A large variety of complicated mechanical mechanisms and components have been employed; however, they lack clear relevance to the walking biomechanics of users in the design process. This article aims to bridge this knowledge gap by providing a review of prosthetic knees from a biomechanical perspective and includes stance stability, early-stance flexion and swing resistance, which directly relate the mechanical mechanisms to the perceived walking performance, i.e., fall avoidance, shock absorption, and gait symmetry. The prescription criteria and selection of prosthetic knees depend on the interaction between the user and prosthesis, which includes five functional levels from K0 to K4. Misunderstood functions and the improper adjustment of knee prostheses may lead to reduced stability, restricted stance flexion, and unnatural gait for users. Our review identifies current commercial and recent studied prosthetic knees to provide a new paradigm for prosthetic knee analysis and facilitates the standardization and optimization of prosthetic knee design. This may also enable the design of functional mechanisms and components tailored to regaining lost functions of a specific person, hence providing individualized product design. | [Liang, Wei; Qian, Zhihui; Chen, Wei; Song, Hounan; Cao, Yu; Ren, Lei; Wang, Kunyang; Ren, Luquan] Jilin Univ, Key Lab Engn Bion Engn, Minist Educ, Changchun, Peoples R China; [Wei, Guowu] Univ Salford, Sch Sci Engn & Environm, Salford, England; [Ren, Lei] Univ Manchester, Sch Mech Aerosp & Civil Engn, Manchester, England | Jilin University; University of Salford; University of Manchester | Ren, L; Wang, KY (corresponding author), Jilin Univ, Key Lab Engn Bion Engn, Minist Educ, Changchun, Peoples R China.;Ren, L (corresponding author), Univ Manchester, Sch Mech Aerosp & Civil Engn, Manchester, England. | National Natural Science Foundation of China (NSFC) | 12 | SEP 15 | 2022 | 10.3389/fbioe.2022.950110 | http://dx.doi.org/10.3389/fbioe.2022.950110 |
100 | J | Shu, TY; Herrera-Arcos, G; Taylor, CR; Herr, HM | Shu, Tony; Herrera-Arcos, Guillermo; Taylor, Cameron R.; Herr, Hugh M. | Mechanoneural interfaces for bionic integration | NATURE REVIEWS BIOENGINEERING | Our expanding expertise in peripheral nerve regeneration and soft tissue reconstruction is enabling the development of novel innervated tissue constructs that can be combined with artificial interfacing technologies to facilitate control and sensation of limb prostheses. By utilizing the body's native afferent and efferent signalling pathways, these mechanoneural interfaces have demonstrated the capacity to enhance volitional prosthetic control, refer somatosensory sensation within proprioceptive and cutaneous modalities, and reduce post-amputation pain. This Review discusses the biophysical principles underpinning recent advancements in targeted reinnervation techniques, regenerative peripheral nerve interfaces and agonist-antagonist neuromuscular architectures that can be combined with artificial technologies, including implanted electrodes, magnetic interfacing and osseointegrated structures, for improved integration with upper-extremity and lower-extremity prostheses. Expanding the capacity for bidirectional information transfer between the peripheral nervous system and external assistive devices will increase the potential of prosthetic embodiment and rehabilitation. | [Shu, Tony; Herrera-Arcos, Guillermo; Taylor, Cameron R.; Herr, Hugh M.] MIT, K Lisa Yang Ctr Bion, Cambridge, MA 02139 USA | Massachusetts Institute of Technology (MIT) | Herr, HM (corresponding author), MIT, K Lisa Yang Ctr Bion, Cambridge, MA 02139 USA. | K. Lisa Yang Center for Bionics at the Massachusetts Institute of Technology | 13 | MAY | 2024 | 10.1038/s44222-024-00151-y | http://dx.doi.org/10.1038/s44222-024-00151-y |