Cable-Driven Two Degrees-of-Freedom Ankle–Foot Prosthesis1

Ficanha, Evandro M.; Aagaah, M. Rastgaar; Kaufman, Kenton R.

doi:10.1115/1.4033734

Cited by 6 publications

(3 citation statements)

References 10 publications

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“…There has been more recent research conducted in developing transtibial prostheses with more than one degree of freedom (DoF). Examples of these include the Sparky 3 (Bellman et al, 2008) and a cable-driven 2 DoF ankle–foot prosthesis controlled using a microcontroller executing impedance control (Ficanha et al, 2016). To the author's knowledge, control strategies that have been implemented on 2DoF transtibial powered prostheses to date have used prostheses mounted sensors or data fusion approaches.…”

Section: Discussionmentioning

confidence: 99%

Intent Prediction of Multi-axial Ankle Motion Using Limited EMG Signals

Gregory

Ren

2019

Front. Bioeng. Biotechnol.

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Background: In this study, different intent prediction strategies were explored with the objective of determining the best approach to predicting continuous multi-axial user motion based solely on surface EMG (electromyography) data. These strategies were explored as the first step to better facilitating control of a multi-axis transtibial powered prosthesis.Methods: Based on data acquired from gait experiments, different data sets, prediction approaches and classification algorithms were explored. The effect of varying EMG electrode positioning was also tested. EMG data measured from three lower leg muscles was the sole data type used for making intent predictions. The motions to be predicted were along both the sagittal plane (foot dorsiflexion and plantarflexion) and the frontal plane (foot eversion and inversion).Results: The deviation of EMG data from its optimal pattern led to a decrease in prediction accuracy of up to 23%. However, using features that were calculated based on a participant's specific walking pattern limited this loss of prediction accuracy as a result of EMG electrode placement. A decoupled data set, one wherein the terrain type was accounted for beforehand, yielded the highest intent prediction accuracy of 77.2%.Conclusions: The results of this study highlighted the challenges faced when using very limited EMG data to predict multi-axial ankle motion. They also indicated that approaches that are more user-centric by design could led to more accurate motion predictions, possibly enabling more intuitive control.

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Section: Discussionmentioning

confidence: 99%

Intent Prediction of Multi-axial Ankle Motion Using Limited EMG Signals

Gregory

Ren

2019

Front. Bioeng. Biotechnol.

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“…In this paper we present the design of a passive ankle-foot prosthesis intended to improve overall performance compared to existing products. One goal is to allow sufficient deflection in the inversion/eversion direction in order to accommodate realistic variations in terrain, enable turning steps which naturally include inversion/eversion motion [7], and reduce falling risk. We also aim to provide energy storage/return as close as possible to healthy levels without adding undue weight to the device.…”

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confidence: 99%

A Passive Two-Degree-of-Freedom Ankle-Foot Prosthesis

Elley

Nelson

2018

2018 Design of Medical Devices Conference

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Natural human ankle motion includes dorsiflexion/plantarflexion (the major contributor to gait) as well as smaller contributions from inversion/eversion and abduction/adduction motions. Many of the commercially available passive prostheses for amputees are either stiff in all these motion directions or are compliant mainly in the dorsiflexion/plantarflexion direction. This can make it difficult for amputees to walk on uneven or sloped surfaces, and leads to increased risk of falling [1–4].

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“…Active transtibial prostheses that are capable of generating motion in the frontal and transverse planes are currently being researched and can contribute to a more natural ankle function. Ficanha et al developed a 2-DOF active prosthesis that is actuated in the sagittal and frontal planes, corresponding to ankle motion in dorsi-plantarflexion (DP) and inversion-eversion (IE), respectively [30], [31]. In addition,…”

Section: Introduction Motivationmentioning

confidence: 99%

Estimation of Multi-Directional Ankle Impedance as a Function of Lower Extremity Muscle Activation

Knop¹

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Cable-Driven Two Degrees-of-Freedom Ankle–Foot Prosthesis1

Cited by 6 publications

References 10 publications

Intent Prediction of Multi-axial Ankle Motion Using Limited EMG Signals

Intent Prediction of Multi-axial Ankle Motion Using Limited EMG Signals

A Passive Two-Degree-of-Freedom Ankle-Foot Prosthesis

Estimation of Multi-Directional Ankle Impedance as a Function of Lower Extremity Muscle Activation

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