Instrumented Pyramid Adapter for Amputee Gait Analysis and Powered Prosthesis Control

Gabert, Lukas; Lenzi, Tommaso

doi:10.1109/jsen.2019.2920179

Cited by 28 publications

(22 citation statements)

References 39 publications

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“…This finite-state machine comprises two different states-Stance and Swing. When, the prosthesis contacts the ground, as detected by the ground reaction force exceeding 50 N [49], the finite-state machine enters Stance. From Stance, the finite-state machine transitions to Swing if the shank position Science and shank velocity are below thresholds while the knee position is below a threshold.…”

Section: A Shared Neural Controlmentioning

confidence: 99%

Stand-Up, Squat, Lunge, and Walk With a Robotic Knee and Ankle Prosthesis Under Shared Neural Control

Hunt

Hood

Lenzi

2021

IEEE Open J. Eng. Med. Biol.

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We propose a shared neural control approach combining neural signals from the user's residual limb with robot control to improve functional mobility in individuals with above-knee amputation. The proposed shared neural controller enables subjects to stand up under a variety of conditions, squat, lunge, walk, and seamlessly transition between activities which is not possible with other prostheses or controllers. Further, we show that the proposed shared neural controller reduces muscle effort and increased symmetry during standing up compared to conventional passive prostheses. No other available technology can enable individuals with above-knee amputations to achieve this level of mobility.

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Section: A Shared Neural Controlmentioning

confidence: 99%

Stand-Up, Squat, Lunge, and Walk With a Robotic Knee and Ankle Prosthesis Under Shared Neural Control

Hunt

Hood

Lenzi

2021

IEEE Open J. Eng. Med. Biol.

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“…The iRPF was then developed based on these requirements. The solution of adding a commercial multiaxial load cell at the RPF clamp was avoided due to the usual high mass of such devices, even if miniaturized; recent attempts of developing an instrumented pyramidal joint [ 16 ] acting only in the sagittal plane, despite attractive, were considered at this stage not reliable and robust enough for the high-duty function of such RPF during sport events.…”

Section: Methodsmentioning

confidence: 99%

Development of Instrumented Running Prosthetic Feet for the Collection of Track Loads on Elite Athletes

Petrone

Costa

Foscan

et al. 2020

Sensors

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Knowledge of loads acting on running specific prostheses (RSP), and in particular on running prosthetic feet (RPF), is crucial for evaluating athletes’ technique, designing safe feet, and biomechanical modelling. The aim of this work was to develop a J-shaped and a C-shaped wearable instrumented running prosthetic foot (iRPF) starting from commercial RPF, suitable for load data collection on the track. The sensing elements are strain gauge bridges mounted on the foot in a configuration that allows decoupling loads parallel and normal to the socket-foot clamp during the stance phase. The system records data on lightweight athlete-worn loggers and transmits them via Wi-Fi to a base station for real-time monitoring. iRPF calibration procedure and static and dynamic validation of predicted ground-reaction forces against those measured by a force platform embedded in the track are reported. The potential application of this wearable system in estimating determinants of sprint performance is presented.

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“…The knee and ankle modules connect with a standard 30mm pylon allowing for height and intra-extra rotation adjustments. A custom instrumented pyramid adapter is located at the top of the ankle modules to estimate the ground reaction force and torque [34]. The Utah Lightweight Leg is equipped with position sensors at the knee and ankle joints as well as at the motor shafts.…”

Section: Powered Knee and Ankle Prosthesismentioning

confidence: 99%

Powered Knee and Ankle Prosthesis with Adaptive Control Enables Climbing Stairs with Different Stair Heights, Cadences, and Gait Patterns

Hood¹,

Gabert²,

Lenzi³

2022

Preprint

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Powered prostheses can enable individuals with above-knee amputations to ascend stairs step-over-step. To accomplish this task, available stair ascent controllers impose a pre-defined joint impedance behavior or follow a pre-programmed position trajectory. These control approaches have proved successful in the laboratory. However, they are not robust to changes in stair height or cadence, which is essential for real-world ambulation. Here we present an adaptive stair ascent controller that enables individuals with above-knee amputations to climb stairs of varying stair heights at their preferred cadence and with their preferred gait pattern. We found that modulating the prosthesis knee and ankle position as a function of the user’s thigh in swing provides toe clearance for varying stair heights. In stance, modulating the torque-angle relationship as a function of the prosthesis knee position at foot contact provides sufficient torque assistance for climbing stairs of different heights. Furthermore, the proposed controller enables individuals to climb stairs at their preferred cadence and gait pattern, such as step-by-step, step-over-step, and two-step, similar to able-bodied individuals. We anticipate the proposed control strategy will improve the robustness of powered prostheses to environmental and human variance without the need for expert tuning, machine learning, or direct subject intervention, which may enable powered prostheses to more easily move from the lab to the real-world.

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Instrumented Pyramid Adapter for Amputee Gait Analysis and Powered Prosthesis Control

Cited by 28 publications

References 39 publications

Stand-Up, Squat, Lunge, and Walk With a Robotic Knee and Ankle Prosthesis Under Shared Neural Control

Stand-Up, Squat, Lunge, and Walk With a Robotic Knee and Ankle Prosthesis Under Shared Neural Control

Development of Instrumented Running Prosthetic Feet for the Collection of Track Loads on Elite Athletes

Powered Knee and Ankle Prosthesis with Adaptive Control Enables Climbing Stairs with Different Stair Heights, Cadences, and Gait Patterns

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