Biomechanical conceptual design of a passive transfemoral prosthesis

Ünal, Ramazan; Carloni, Raffaella; Hekman, Edsko E.G.; Koopman, Bart

doi:10.1109/iembs.2010.5626020

Cited by 9 publications

(9 citation statements)

References 7 publications

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“…Therefore, only 2 degrees of freedom (DOF) were considered: 1 DOF for the hip joint and 1 for the knee [ 39 , 57 – 62 ]. Moreover, the base was assumed fixed, making it two serial-link manipulators in which one manipulator is moved 180° out of phase with the other one [ 61 – 64 ]. The average thigh clearance given in the literature for a man is 0.78 in, and for women, 0.90 in [ 65 , 66 ].…”

Section: Methodsmentioning

confidence: 99%

fNIRS-based Neurorobotic Interface for gait rehabilitation

Khan

Naseer

Qureshi

et al. 2018

J NeuroEngineering Rehabil

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

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Section: Methodsmentioning

confidence: 99%

fNIRS-based Neurorobotic Interface for gait rehabilitation

Khan

Naseer

Qureshi

et al. 2018

J NeuroEngineering Rehabil

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“…This torque propels the body forward into the next step. This rapid release of energy corresponds to over half of the total energy generated during walking [6,7]. The passive elongation and recoil of the Achilles tendon has historically been emulated in an attempt to reduce the requirements of the biological system.…”

Section: Chapter 1: Introductionmentioning

confidence: 99%

“…The joint power of the ankle and knee of healthy human gait over one full stride, normalized by body weight. Modified from[7] …”

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confidence: 99%

Development and testing of a passive ankle exoskeleton

Pardoel

Doumit

2019

Biocybernetics and Biomedical Engineering

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Aging is accompanied by a deterioration of physical abilities. For some this limits their mobility and thus their quality of life. Exoskeletons are a class of walking assist device that help reduce the effort required to walk. Currently, powered exoskeletons suffer from short battery life and thus limited usefulness. This thesis presents the design, fabrication, and testing of a novel unpowered ankle exoskeleton to assist normal walking over long distances. The design incorporates a Pneumatic Artificial Muscle (PAM) inflated and used as a passive air spring. To predict the behaviour of the PAM in this distinct application, a distinct dynamic model was developed to include the biaxial stress in the bladder as well as a polytropic gas assumption. Experimental testing was used to validate the model and indicated that the addition of the bladder stress enhanced the performance of the force prediction at low pressure but had negligible impact on the model at higher pressures. The experimental testing also showed that the temperature of the gas inside the PAM varies very slightly during passive elongation cycles, thus, validating an isothermal assumption. Once fabricated, the exoskeleton was tested in human walking trials. I would also like to thank Laurent Levesque as well as my other lab mates for sharing their knowledge and helping to address unexpected problems as they arose.

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“…The recording results of support and balance time show that during walking, amputee volunteers support their intact limbs longer than amputee volunteers, which has been reflected by other research work [9,12,13,29] , and which is a clear sign of gait asymmetry and affects the pathological detection of amputee volunteers' intact limbs and stumps [4,6,30] In general, all joints of the intact limbs of amputated volunteers describe trajectories similar to those of control volunteers, although at some peaks, the delay time is longer and the amplitude is lower, which has been reported by the authors [8,31,32] and other researchers [33][34][35] .…”

Section: Discussionmentioning

confidence: 68%

Kinematic and kinetic analysis of transfemoral prosthesis

Broche-Vázquez¹,

Zamora²,

Ochoa-Diaz³

et al. 2022

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<p>The feasibility of using transfemoral prosthesis Otto bock with 3R80 knee and articulated ankle1C30 “Trias” was analyzed from the perspective of dynamics and clinic. The kinematic and kinetic study of gait were performed on 5 amputated volunteers and 5 controls using videography techniques and force platform. Kinetic asymmetry gait is one of the main causes of hip joint degeneration. Combining kinematic and kinetic variables, we can draw important conclusions related to the dynamic imbalance of the main causes of hip degenerative diseases through the clinical trials of radiography film and density measurement, which has become an important tool to evaluate the feasibility of prosthetic design.</p>

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Biomechanical conceptual design of a passive transfemoral prosthesis

Cited by 9 publications

References 7 publications

fNIRS-based Neurorobotic Interface for gait rehabilitation

fNIRS-based Neurorobotic Interface for gait rehabilitation

Development and testing of a passive ankle exoskeleton

Kinematic and kinetic analysis of transfemoral prosthesis

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