Biosimilar Artificial Knee for Transfemoral Prostheses and Exoskeletons

Poliakov, Aleksandr; Pakhaliuk, Vladimir; Lozinskiy, Nikolay; Kolesova, Marina; Bugayov, Pavel; Shtanko, Petro

doi:10.22190/fume1603321p

Cited by 10 publications

(7 citation statements)

References 6 publications

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“…As an example, Fig. 5a shows clusters in hyperplane 3  of the space of invariants 4 J , which is described by generalized coordinates {I 2 ,I 3 ,I 4 }.…”

Section: Resultsmentioning

confidence: 99%

“…The basic idea of ISC is that the ICS created on its basis consists of two subsystems: intellectual (IS = HLC + MLC) and synergetic (SS = MLC + LLC). At the same time, IS is responsible for recognizing the locomotor and non-locomotor intentions of the user in the short and medium term, and SS is for their bio-like implementation [1,3]. In principle, as noted in the review [4], controllers of such ICS can perform their functions using different algorithms, each of which can be optimal from the point of view of different criteria and conditions.…”

Section: Introductionmentioning

confidence: 99%

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Fast User Activity Phase Recognition for the Safety of Transfemoral Prosthesis Control

Poliakov

Pakhaliuk

2020

FU Mech Eng

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In the process of creating powered transfemoral prostheses, one of the most important tasks is the provision of the user safety while walking. Experience shows that security depends not only on the mechanical strength of such devices, but also on the quality of their control systems, which, among other things, must ensure that latency and error rates of recognition are acceptable for each of the possible changes in gait. Incorrect or late recognition of the activity mode at best can lead to suboptimal assistance from the auxiliary device, and at worst - to loss of stability of the user with a subsequent fall. Loss of stability can also occur due to exceeding the critical time or critical errors of the activity phase recognition and the associated incorrect commands generated by the control system. In this paper, a method for quickly recognizing the phase of the user's activity based on the properties of Hu’s moment invariants is substantiated. Its use in the intelligent control systems will minimize the critical errors that contribute to the loss of the user's equilibrium with the powered transfemoral prosthesis.

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“…As an example, Fig. 5a shows clusters in hyperplane 3  of the space of invariants 4 J , which is described by generalized coordinates {I 2 ,I 3 ,I 4 }.…”

Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Fast User Activity Phase Recognition for the Safety of Transfemoral Prosthesis Control

Poliakov

Pakhaliuk

2020

FU Mech Eng

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“…The force of the support reaction and the bending moment applied during the stance phase to the artificial foot (Otto Bock, Triton Family) were recorded using pressure and bending sensors FS-L-0095-103-ST. The information from the sensors was transmitted to the inputs of the Nucleo-64 STM32F401 controller located inside the bio-like artificial knee joint [29].…”

Section: Resultsmentioning

confidence: 99%

“…In the experiments, we used the TFP with an artificial controlled polycentric knee joint, controlled magneto rheological dampener (MRD) and an uncontrolled artificial foot [29], the design scheme of which is shown in Figure I. FIGURE I.…”

Section: Advances In Engineering Volume 87mentioning

confidence: 99%

Transfemoral Prostheses Control in a Frame of Intellectual-Synergetic Concept

Poliakov¹,

Pakhaliuk²,

Kolesova³

et al. 2017

Proceedings of the 2017 2nd International Conference on Automation, Mechanical and Electrical Engineering (AMEE 2017)

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Abstract-In the control process of transfemoral prostheses in real time, the need to solve a number of non-trivial tasks there arises. The most difficult of them: recognizing the intentions of the disabled person to carry out any movement in the short term and choosing the optimal strategy for moving to the target, taking into account excessive number degrees of freedom of the prosthetic system. At the same time, the optimal should be considered the strategy of movement, which ensures the safety and most comfortable walking of a disabled person from its subjective point of view. Such a strategy can be implemented in a frame of the intellectual-synergistic concept of control. Herewith, the prosthesis control system is designed based on two basic subsystems: the intellectual subsystem -designed to assess the current state and recognize the intentions of the disabled person and the synergetic subsystem -designed to select the optimal strategy for limb movement toward the goal. In this work, the structure of the transfemoral prosthesis control system, realized within the framework of the intellectual-synergistic concept with regard to synergistic quality criteria, is substantiated. It is shown that the use of reasonable synergetic quality criteria allows successfully solving the pseudo-Bernstein problem when planning the movements of controlled transfemoral prostheses and using these movements as reference for the prostheses control system.

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“…In particular, in ref. [22], the results of studies of wear performances on a device for wear testing a total knee replacement for various ADL, which were previously taken into account by us in the synthesis of a bio like artificial knee joint [23], are presented. And ref.…”

Section: Introductionmentioning

confidence: 99%