Recent Advances on Control of Active Lower Limb Prostheses

Hernandez, Ivan A.; Yu, Wen

doi:10.1080/02564602.2021.1994477

Cited by 6 publications

(4 citation statements)

References 48 publications

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“…Since the movement is a whole complex trajectory, instead of specific points to be reached by a single actuator, the schemes that are used must be robust against disturbances, and, in the case of multiple actuators, actions must be performed at coordinated times. Coordinated motion control, where joints are connected to each other and a range of motion is determined, could be used to avoid unwanted muscle activity; path tracking control determines a path to follow, adapting to any disturbance in the system ( Hernandez and Yu, 2021 ). • Direct joints : Taking the locomotion types and gait phases more accurately, this type of control focuses on how the actuators need to move independently to get specific angles, using an impedance/admittance control scheme.…”

Section: Prosthetic Elementsmentioning

confidence: 99%

“… • Direct joints : Taking the locomotion types and gait phases more accurately, this type of control focuses on how the actuators need to move independently to get specific angles, using an impedance/admittance control scheme. This scheme can be defined as a method to control the relationship between angular velocity and torque ( Hernandez and Yu, 2021 ). When a user travels on different surfaces ( Chang et al., 2019 ), the method allows small changes to occur in the swing phase of the gait, minimising energy consumption ( Dong et al., 2020 ) by controlling the exact torque required in the joints to maintain balance in the human body.…”

Section: Prosthetic Elementsmentioning

confidence: 99%

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Low limb prostheses and complex human prosthetic interaction: A systematic literature review

et al. 2023

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A few years ago, powered prostheses triggered new technological advances in diverse areas such as mobility, comfort, and design, which have been essential to improving the quality of life of individuals with lower limb disability. The human body is a complex system involving mental and physical health, meaning a dependant relationship between its organs and lifestyle. The elements used in the design of these prostheses are critical and related to lower limb amputation level, user morphology and human-prosthetic interaction. Hence, several technologies have been employed to accomplish the end user’s needs, for example, advanced materials, control systems, electronics, energy management, signal processing, and artificial intelligence. This paper presents a systematic literature review on such technologies, to identify the latest advances, challenges, and opportunities in developing lower limb prostheses with the analysis on the most significant papers. Powered prostheses for walking in different terrains were illustrated and examined, with the kind of movement the device should perform by considering the electronics, automatic control, and energy efficiency. Results show a lack of a specific and generalised structure to be followed by new developments, gaps in energy management and improved smoother patient interaction. Additionally, Human Prosthetic Interaction (HPI) is a term introduced in this paper since no other research has integrated this interaction in communication between the artificial limb and the end-user. The main goal of this paper is to provide, with the found evidence, a set of steps and components to be followed by new researchers and experts looking to improve knowledge in this field.

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Section: Prosthetic Elementsmentioning

confidence: 99%

Section: Prosthetic Elementsmentioning

confidence: 99%

Low limb prostheses and complex human prosthetic interaction: A systematic literature review

et al. 2023

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“…Unfortunately, these prostheses' highly asymmetrical lower limb alignment leads to abnormal gait patterns and potential long‐term health issues 4–6 . While several studies have explored advanced intelligent prosthetic control techniques for restoring natural lower limb motion, current designs struggle to accurately replicate biological joint motion characteristics 7–9 . Helix3D is a four‐bar multi‐center joint with hydraulics that provides controlled motion resistance during the stance and swing phases 10 .…”

Section: Introductionmentioning

confidence: 99%

“…[4][5][6] While several studies have explored advanced intelligent prosthetic control techniques for restoring natural lower limb motion, current designs struggle to accurately replicate biological joint motion characteristics. [7][8][9] Helix3D is a four-bar multi-center joint with hydraulics that provides controlled motion resistance during the stance and swing phases. 10 However, the design fails to restore the physiological structure of the hip joint on the amputated side.…”

mentioning

confidence: 99%

Design and optimization of a new integrated hip and knee prosthesis structure

Luo,

Shu,

Zhu

et al. 2023

Artificial Organs

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BackgroundConventional hip disarticulation prostheses (HDPs) are passive devices with separate joint structures, limiting amputees' ability to control and resulting in abnormal gait patterns. This study introduces a new HDP integrating the hip and knee joints for amputees' natural gait.MethodsThe new HDP restores the physiological rotation center of the hip with a remote center of motion (RCM) structure, and simulates the knee motion with a four‐bar structure. Nonlinear programming was employed to optimize the hip‐knee joint structure. A hybrid multi‐objective drive structure with a series–parallel connection was also designed to ensure motion synergy between the hip and knee joints. Finally, a prototype of the prosthesis was tested using the HDP test system.ResultsThe optimization results demonstrate that the new HDP accurately restores the rotation center of the femur in amputees, with the knee's instantaneous center of rotation (ICR) trajectory closely resembling that of the human knee (Pearson correlation coefficient is 0.999). The study shows that the new HDP achieves a motion reproduction accuracy of over 95% for the human hip joint at walking speeds above 1.5 km/h, 38% higher than conventional prosthesis. Similarly, at the same walking speed, the new HDP replicates the motion of the human knee at 82.89%, surpassing conventional prosthesis by 57.85%.ConclusionsThe new HDP restores symmetry and replicates synergistic movement in amputees' lower limbs, exhibiting superior movement characteristics compared to conventional prostheses. This innovative HDP has the potential to enhance the quality of life for amputees.

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Transforming the Anthropomorphic Passive Free-Flow Foot Prosthesis Into a Powered Foot Prosthesis With Intuitive Control and Sensation (Bionic FFF)

Pitkin,

Park,

Frossard

et al. 2024

Military Medicine

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Introduction Approximately 89% of all service members with amputations do not return to duty. Restoring intuitive neural control with somatosensory sensation is a key to improving the safety and efficacy of prosthetic locomotion. However, natural somatosensory feedback from lower-limb prostheses has not yet been incorporated into any commercial prostheses Materials and Methods We developed a neuroprosthesis with intuitive bidirectional control and somatosensation and evoking phase-dependent locomotor reflexes, we aspire to significantly improve the prosthetic rehabilitation and long-term functional outcomes of U.S. amputees. We implanted the skin and bone integrated pylon with peripheral neural interface pylon into the cat distal tibia, electromyographic electrodes into the residual gastrocnemius muscle, and nerve cuff electrodes on the distal tibial and sciatic nerves. Results. The bidirectional neural interface that was developed was integrated into the existing passive Free-Flow Foot and Ankle prosthesis, WillowWood, Mount Sterling, OH. The Free-Flow Foot was chosen because it had the highest Index of Anthropomorphicity among lower-limb prostheses and was the first anthropomorphic prosthesis brought to market. Conclusion. The cats walked on a treadmill with no cutaneous feedback from the foot in the control condition and with their residual distal tibial nerve stimulated during the stance phase of walking

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Recent Advances on Control of Active Lower Limb Prostheses

Cited by 6 publications

References 48 publications

Low limb prostheses and complex human prosthetic interaction: A systematic literature review

Low limb prostheses and complex human prosthetic interaction: A systematic literature review

Design and optimization of a new integrated hip and knee prosthesis structure

Transforming the Anthropomorphic Passive Free-Flow Foot Prosthesis Into a Powered Foot Prosthesis With Intuitive Control and Sensation (Bionic FFF)

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