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

Hood, Sarah; Gabert, Lukas; Lenzi, Tommaso

doi:10.1109/tro.2022.3152134

Cited by 38 publications

(15 citation statements)

References 36 publications

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“…Further reduction of knee swing speed across all modes resulted in better timing for his preferred speed. Although no additional adjustments were made for stair climbing that weren't normally modified for higher functioning ambulators ( 9 , 23 ), joint power during stair climbing and sit-to-stand movements likely could have been better optimized if time had allowed ( 33 ). It is possible that with further training and configuration, TUG times could decrease with the powered prosthesis.…”

Section: Discussionmentioning

confidence: 99%

Powered knee and ankle prosthesis use with a K2 level ambulator: a case report

Simon

Finucane

Ikeda

et al. 2023

Front. Rehabil. Sci.

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Powered prosthetic knees and ankles have the capability of restoring power to the missing joints and potential to provide increased functional mobility to users. Nearly all development with these advanced prostheses is with individuals who are high functioning community level ambulators even though limited community ambulators may also receive great benefit from these devices. We trained a 70 year old male participant with a unilateral transfemoral amputation to use a powered knee and powered ankle prosthesis. He participated in eight hours of therapist led in-lab training (two hours per week for four weeks). Sessions included static and dynamic balance activities for improved stability and comfort with the powered prosthesis and ambulation training on level ground, inclines, and stairs. Assessments were taken with both the powered prosthesis and his prescribed, passive prosthesis post-training. Outcome measures showed similarities in velocity between devices for level-ground walking and ascending a ramp. During ramp descent, the participant had a slightly faster velocity and more symmetrical stance and step times with the powered prosthesis compared to his prescribed prosthesis. For stairs, he was able to climb with reciprocal stepping for both ascent and descent, a stepping strategy he is unable to do with his prescribed prosthesis. More research with limited community ambulators is necessary to understand if further functional improvements are possible with either additional training, longer accommodation periods, and/or changes in powered prosthesis control strategies

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Section: Discussionmentioning

confidence: 99%

Powered knee and ankle prosthesis use with a K2 level ambulator: a case report

Simon

Finucane

Ikeda

et al. 2023

Front. Rehabil. Sci.

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“…And a three-level control system facilitated various ambulation modes, except ramp walk. An adaptive control knee prosthesis was proposed for stair climbing and ensured adjustment to different stair heights, cadences, and gait patterns [43]. It's position controller supplied necessary knee and ankle joint angles, based on the subject's thigh movement during the swing phase.…”

Section: Stairs Ambulationmentioning

confidence: 99%

Design, Kinematics and Gait Analysis, of Prosthetic Knee Joints: A Systematic Review

2023

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The aim of this review article is to appraise the design and functionality of above-knee prosthetic legs. So far, various transfemoral prosthetic legs are found to offer a stable gait to amputees but are limited to laboratories. The commercially available prosthetic legs are not reliable and comfortable enough to satisfy amputees. There is a dire need for creating a powered prosthetic knee joint that could address amputees’ requirements. To pinpoint the gap in transfemoral prosthetic legs, prosthetic knee unit model designs, control frameworks, kinematics, and gait evaluations are concentrated. Ambulation exercises, ground-level walking, running, and slope walking are considered to help identify research gaps and areas where existing prostheses can be ameliorated. The results show that above-knee amputees can more effectively manage their issues with the aid of an active prosthesis, capable of reliable gait. To accomplish the necessary control, closed loop controllers and volitional control are integral parts. Future studies should consider designing a transfemoral electromechanical prosthesis based on electromyographic (EMG) signals to better predict the amputee’s intent and control in accordance with that intent.

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“…Mathematical models can be trained on non-amputee datasets. In one study, an adaptive controller [ 10 ] based on the biomechanical analysis of non-disabled individuals enabled stair-climbing with variability in gait patterns, although noticeable differences were observed in the ankle joint angles between the sound side and the prosthetic legs. Further, models of the transition [ 11 ] from walking to stair-climbing and from stair-climbing to walking were designed using a publicly available lower-limb dataset [ 12 ] by interpolating untrained patterns using able-bodied kinematics models.…”

Section: Introductionmentioning

confidence: 99%

Generating synthetic gait patterns based on benchmark datasets for controlling prosthetic legs

Kim,

Hargrove

2023

J NeuroEngineering Rehabil

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Background Prosthetic legs help individuals with an amputation regain locomotion. Recently, deep neural network (DNN)-based control methods, which take advantage of the end-to-end learning capability of the network, have been proposed. One prominent challenge for these learning-based approaches is obtaining data for the training, particularly for the training of a mid-level controller. In this study, we propose a method for generating synthetic gait patterns (vertical load and lower limb joint angles) using a generative adversarial network (GAN). This approach enables a mid-level controller to execute ambulation modes that are not included in the training datasets. Methods The conditional GAN is trained on benchmark datasets that contain the gait data of individuals without amputation; synthetic gait patterns are generated from the user input. Further, a DNN-based controller for the generation of impedance parameters is trained using the synthetic gait pattern and the corresponding synthetic stiffness and damping coefficients. Results The trained GAN generated synthetic gait patterns with a coefficient of determination of 0.97 and a structural similarity index of 0.94 relative to benchmark data that were not included in the training datasets. We trained a DNN-based controller using the GAN-generated synthetic gait patterns for level-ground walking, standing-to-sitting motion, and sitting-to-standing motion. Four individuals without amputation participated in bypass testing and demonstrated the ambulation modes. The model successfully generated control parameters for the knee and ankle based on thigh angle and vertical load. Conclusions This study demonstrates that synthetic gait patterns can be used to train DNN models for impedance control. We believe a conditional GAN trained on benchmark datasets can provide reliable gait data for ambulation modes that are not included in its training datasets. Thus, designing gait data using a conditional GAN could facilitate the efficient and effective training of controllers for prosthetic legs.

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

Cited by 38 publications

References 36 publications

Powered knee and ankle prosthesis use with a K2 level ambulator: a case report

Powered knee and ankle prosthesis use with a K2 level ambulator: a case report

Design, Kinematics and Gait Analysis, of Prosthetic Knee Joints: A Systematic Review

Generating synthetic gait patterns based on benchmark datasets for controlling prosthetic legs

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