A Novel Robust Model Reference Adaptive Impedance Control Scheme for an Active Transtibial Prosthesis

Classification and Comparison of Mechanical Design of Powered Ankle–Foot Prostheses for Transtibial Amputees Developed in the 21st Century: A Systematic Review

A systematic review of the mechanical design of powered ankle–foot prostheses developed from 2000 to 2019 was conducted through database and manual searches. A total of ten English and two Chinese databases were searched using the same keywords. Moreover, information on commercialized prostheses was collected through a manual search. A total of 8729 publications were obtained from the database search, and 83 supplementary publications and 49 online product introductions were accumulated through the manual search. A total of 91 powered ankle–foot prostheses were extracted from 159 publications and online information after exclusion. The mechanical design characteristics of the prostheses were described briefly and compared after they were categorized into 11 subclassifications. This review revealed that a considerable number of powered ankle–foot prostheses were developed in the last 20 years. The development of such prostheses was characterized by alternative modes, that is, from pneumatic or hydraulic drivers to motorized drivers and from rigid transmissions to elastic actuators. This review contributes to the comprehensive understanding of current designs, which can benefit the combination of the advantages of and redundancy avoidance in future powered ankle–foot prostheses.

Real-Time Interface Algorithm for Ankle Kinematics and Stiffness From Electromyographic Signals

Shortcomings in capabilities of below-knee (transtibial) prostheses, compared to their biological counterparts, still cause medical complications and functional deficit to millions of amputees around the world. Although active (powered actuation) transtibial prostheses have the potential to bridge these gaps, the current control solutions limit their efficacy. Here we describe the development of a novel interface for two degrees-of-freedom position and stiffness control for below-knee amputees. The developed algorithm for the interface relies entirely on muscle electrical signals from the lower leg. The algorithm was tested for voluntary position and stiffness control in eight able-bodied and two transtibial amputees and for voluntary stiffness control with foot position estimation while walking in eight able-bodied and one transtibial amputee. The results of the voluntary control experiment demonstrated a promising target reaching success rate, higher for amputees compared to the able-bodied individuals (82.5% and 72.5% compared to 72.5% and 68.1% for the position and position and stiffness matching tasks respectively). Further, the algorithm could provide the means to control four stiffness levels during walking in both amputee and able-bodied individuals while providing estimates of foot kinematics (gait cycle cross-correlation >75% for the sagittal and >90% for the frontal plane and gait cycle root mean square error <7.5° in sagittal and <3° in frontal plane for able-bodied and amputee individuals across three walking speeds). The results from the two experiments demonstrate the feasibility of using this novel algorithm for online control of multiple degrees of freedom and of their stiffness in lower limb prostheses.