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MacLean MK, Ferris DP. Effects of simulated reduced gravity and walking speed on ankle, knee, and hip quasi-stiffness in overground walking. PLoS One 2022; 17:e0271927. [PMID: 35944021 PMCID: PMC9362947 DOI: 10.1371/journal.pone.0271927] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/03/2021] [Accepted: 07/10/2022] [Indexed: 12/04/2022] Open
Abstract
Quasi-stiffness characterizes the dynamics of a joint in specific sections of stance-phase and is used in the design of wearable devices to assist walking. We sought to investigate the effect of simulated reduced gravity and walking speed on quasi-stiffness of the hip, knee, and ankle in overground walking. 12 participants walked at 0.4, 0.8, 1.2, and 1.6 m/s in 1, 0.76, 0.54, and 0.31 gravity. We defined 11 delimiting points in stance phase (4 each for the ankle and hip, 3 for the knee) and calculated the quasi-stiffness for 4 phases for both the hip and ankle, and 2 phases for the knee. The R2 value quantified the suitability of the quasi-stiffness models. We found gravity level had a significant effect on 6 phases of quasi-stiffness, while speed significantly affected the quasi-stiffness in 5 phases. We concluded that the intrinsic muscle-tendon unit stiffness was the biggest determinant of quasi-stiffness. Speed had a significant effect on the R2 of all phases of quasi-stiffness. Slow walking (0.4 m/s) was the least accurately modelled walking speed. Our findings showed adaptions in gait strategy when relative power and strength of the joints were increased in low gravity, which has implications for prosthesis and exoskeleton design.
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Affiliation(s)
- Mhairi K. MacLean
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
- * E-mail:
| | - Daniel P. Ferris
- J. Crayton Pruitt Family Department of Biomedical Engineering, University of Florida, Gainesville, Florida, United States of America
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2
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Abstract
Biped robots’ locomotion is realized by driving the joint motion via a drive chain. Therefore, the stiffness of the drive chain is an important factor that affects the drive performance and can influence the locomotion behavior of the biped robot. This work focused on the influence of the stiffness of the leg’s drive chain using a mass-spring model based on the biped robot AIRO built in Zhejiang Lab. Methods for determination of the parameters in the proposed model were presented, including the use of ANSYS Workbench to determine the stiffness parameters and the determination of the inertia parameters by dynamic modelling of the biped robot. Simulation results show that special attention should be paid to the stiffness of the drive train of the leg when designing a biped robot to ensure the walking capability of the robot. Using the model proposed in this work, relations between the executed accuracy of the joint trajectories and the stiffness can be analyzed; after that, the stiffness parameters can be optimized. In addition, simulation results also showed that attention should be paid to manufacturing tolerances to ensure the symmetry of the legs of the bipedal robot in order to reduce the vibration of the robot body. Experiments were conducted on AIRO for validating the proposed model and the simulation analysis.
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3
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Ghillebert J, Geeroms J, Flynn L, De Bock S, Govaerts R, Lathouwers E, Crea S, Vitiello N, Lefeber D, Meeusen R, De Pauw K. Performance of the CYBERLEGs motorized lower limb prosthetic device during simulated daily activities. WEARABLE TECHNOLOGIES 2021; 2:e15. [PMID: 38486632 PMCID: PMC10936386 DOI: 10.1017/wtc.2021.15] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 05/29/2021] [Revised: 10/17/2021] [Accepted: 10/29/2021] [Indexed: 03/17/2024]
Abstract
Background The CYBERLEGs-gamma (CLs-ɣ) prosthesis has been developed to investigate the possibilities of powerful active prosthetics in restoring human gait capabilities after lower limb amputation. Objective The objective of this study was to determine the performance of the CLs-ɣ prosthesis during simulated daily activities. Methods Eight participants with a transfemoral amputation (age: 55 ± 15 years, K-level 3, registered under: NCT03376919) performed a familiarization session, an experimental session with their current prosthesis, three training sessions with the CLs-ɣ prosthesis and another experimental session with the CLs-ɣ prosthesis. Participants completed a stair-climbing-test, a timed-up-and-go-test, a sit-to stand-test, a 2-min dual-task and a 6-min treadmill walk test. Results Comparisons between the two experimental sessions showed that stride length significantly increased during walking with the CLs-ɣ prosthesis (p = .012) due to a greater step length of the amputated leg (p = .035). Although a training period with the prototype was included, preferred walking speed was significantly slower (p = .018), the metabolic cost of transport was significantly higher (p = .028) and reaction times significantly worsened (p = .012) when walking with the CLs-ɣ compared to the current prosthesis. Conclusions It can be stated that a higher physical and cognitive effort were required when wearing the CLs-ɣ prosthesis. Positive outcomes were observed regarding stride length and stair ambulation. Future prosthetics development should minimize the weight of the device and integrate customized control systems. A recommendation for future research is to include several shorter training periods or a prolonged adaptation period.
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Affiliation(s)
- Jo Ghillebert
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
- Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, Brussels, Belgium
| | - Joost Geeroms
- Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, Brussels, Belgium
- Department of Mechanical Engineering, Faculty of Applied Sciences, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Louis Flynn
- Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, Brussels, Belgium
- Department of Mechanical Engineering, Faculty of Applied Sciences, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Sander De Bock
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
- Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, Brussels, Belgium
| | - Renée Govaerts
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
- Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, Brussels, Belgium
| | - Elke Lathouwers
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
- Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, Brussels, Belgium
| | - Simona Crea
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
- Department of Excellence in Robotics & AI, Piazza Martiri della Libertà, Pisa, Italy
| | - Nicola Vitiello
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
- Department of Excellence in Robotics & AI, Piazza Martiri della Libertà, Pisa, Italy
| | - Dirk Lefeber
- Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, Brussels, Belgium
- Department of Mechanical Engineering, Faculty of Applied Sciences, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Romain Meeusen
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
- Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, Brussels, Belgium
- Strategic Research Program ‘Exercise and the Brain in Health and Disease: The Added Value of Human-Centered Robotics’, Vrije Universiteit Brussel, Brussels, Belgium
| | - Kevin De Pauw
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
- Brussels Human Robotic Research Center (BruBotics), Vrije Universiteit Brussel, Brussels, Belgium
- Strategic Research Program ‘Exercise and the Brain in Health and Disease: The Added Value of Human-Centered Robotics’, Vrije Universiteit Brussel, Brussels, Belgium
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4
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Babič J, Laffranchi M, Tessari F, Verstraten T, Novak D, Šarabon N, Ugurlu B, Peternel L, Torricelli D, Veneman JF. Challenges and solutions for application and wider adoption of wearable robots. WEARABLE TECHNOLOGIES 2021; 2:e14. [PMID: 38486636 PMCID: PMC10936284 DOI: 10.1017/wtc.2021.13] [Citation(s) in RCA: 10] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/02/2021] [Revised: 08/25/2021] [Accepted: 09/18/2021] [Indexed: 03/17/2024]
Abstract
The science and technology of wearable robots are steadily advancing, and the use of such robots in our everyday life appears to be within reach. Nevertheless, widespread adoption of wearable robots should not be taken for granted, especially since many recent attempts to bring them to real-life applications resulted in mixed outcomes. The aim of this article is to address the current challenges that are limiting the application and wider adoption of wearable robots that are typically worn over the human body. We categorized the challenges into mechanical layout, actuation, sensing, body interface, control, human-robot interfacing and coadaptation, and benchmarking. For each category, we discuss specific challenges and the rationale for why solving them is important, followed by an overview of relevant recent works. We conclude with an opinion that summarizes possible solutions that could contribute to the wider adoption of wearable robots.
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Affiliation(s)
- Jan Babič
- Laboratory for Neuromechanics and Biorobotics, Department of Automation, Biocybernetics and Robotics, Jožef Stefan Institute, Ljubljana, Slovenia
| | - Matteo Laffranchi
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genoa, Italy
| | - Federico Tessari
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genoa, Italy
| | - Tom Verstraten
- Robotics & Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Domen Novak
- University of Wyoming, Laramie, Wyoming, USA
| | - Nejc Šarabon
- Faculty of Health Sciences, University of Primorska, Izola, Slovenia
| | - Barkan Ugurlu
- Biomechatronics Laboratory, Faculty of Engineering, Ozyegin University, Istanbul, Turkey
| | - Luka Peternel
- Delft Haptics Lab, Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands
| | - Diego Torricelli
- Cajal Institute, Spanish National Research Council, Madrid, Spain
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5
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Adaptive Robust Force Position Control for Flexible Active Prosthetic Knee Using Gait Trajectory. APPLIED SCIENCES-BASEL 2020. [DOI: 10.3390/app10082755] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
Active prosthetic knees (APKs) are widely used in the past decades. However, it is still challenging to make them more natural and controllable because: (1) most existing APKs that use rigid actuators have difficulty obtaining more natural walking; and (2) traditional finite-state impedance control has difficulty adjusting parameters for different motions and users. In this paper, a flexible APK with a compact variable stiffness actuator (VSA) is designed for obtaining more flexible bionic characteristics. The VSA joint is implemented by two motors of different sizes, which connect the knee angle and the joint stiffness. Considering the complexity of prothetic lower limb control due to unknown APK dynamics, as well as strong coupling between biological joints and prosthetic joints, an adaptive robust force/position control method is designed for generating a desired gait trajectory of the prosthesis. It can operate without the explicit model of the system dynamics and multiple tuning parameters of different gaits. The proposed model-free scheme utilizes the time-delay estimation technique, sliding mode control, and fuzzy neural network to realize finite-time convergence and gait trajectory tracking. The virtual prototype of APK was established in ADAMS as a testing platform and compared with two traditional time-delay control schemes. Some demonstrations are illustrated, which show that the proposed method has superior tracking characteristics and stronger robustness under uncertain disturbances within the trajectory error in ± 0 . 5 degrees. The VSA joint can reduce energy consumption by adjusting stiffness appropriately. Furthermore, the feasibility of this method was verified in a human–machine hybrid control model.
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Keeratihattayakorn S, Virulsri C, Ophaswongse C, Tangpornprasert P. Design and evaluation of a hydraulic mechanism with available components for passive knee prostheses. Disabil Rehabil Assist Technol 2019; 16:144-151. [PMID: 31519131 DOI: 10.1080/17483107.2019.1642396] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/26/2022]
Abstract
BACKGROUND Hydraulic knee prosthesis can provide stance phase control and swing phase control suitable for active persons with an amputation. However, typical commercial hydraulic knees are costly and require frequent maintenance making them inaccessible for persons with an amputation in low-income countries. The objective of this article is to present a new design for a low-cost hydraulic knee prosthesis. METHOD The prototype hydraulic knee is made of simple hydraulic components. The hydraulic system was designed to provide flexion locking during the stance phase and damping during the swing phase of gait. RESULTS The prototype was tested and results show that the hydraulic knee can prevent flexion of the knee at stance phase when the highest external knee flexion moment in the gait cycle occurs. The prototype mechanism is capable of resisting flexion torque of 60 N-m. CONCLUSIONS The prototype hydraulic knee can be assembled from available hydraulic components for low cost and ease of maintenance which is feasible for persons with an amputation in low-income countries.IMPLICATIONS FOR REHABILITATIONA new design hydraulic knee which assembled from simple hydraulic components which provide both stance control and swing control.The use of simple hydraulic components makes the knee feasible for low-income country where service and maintenance staff is inadequate.
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Affiliation(s)
- Saran Keeratihattayakorn
- Mechanical Engineering Department, Faculty of Engineering, Center of Excellence for Prosthetic and Orthopedic Implant, Chulalongkorn University, Bangkok, Thailand
| | - Chanyaphan Virulsri
- Mechanical Engineering Department, Faculty of Engineering, Center of Excellence for Prosthetic and Orthopedic Implant, Chulalongkorn University, Bangkok, Thailand
| | - Chawin Ophaswongse
- Mechanical Engineering Department, Faculty of Engineering, Center of Excellence for Prosthetic and Orthopedic Implant, Chulalongkorn University, Bangkok, Thailand
| | - Pairat Tangpornprasert
- Mechanical Engineering Department, Faculty of Engineering, Center of Excellence for Prosthetic and Orthopedic Implant, Chulalongkorn University, Bangkok, Thailand
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7
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Flynn L, Geeroms J, Jimenez-Fabian R, Heins S, Vanderborght B, Munih M, Molino Lova R, Vitiello N, Lefeber D. The Challenges and Achievements of Experimental Implementation of an Active Transfemoral Prosthesis Based on Biological Quasi-Stiffness: The CYBERLEGs Beta-Prosthesis. Front Neurorobot 2018; 12:80. [PMID: 30564111 PMCID: PMC6289037 DOI: 10.3389/fnbot.2018.00080] [Citation(s) in RCA: 16] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/30/2018] [Accepted: 11/08/2018] [Indexed: 11/24/2022] Open
Abstract
The CYBERLEGs Beta-Prosthesis is an active transfemoral prosthesis that can provide the full torque required for reproducing average level ground walking at both the knee and ankle in the sagittal plane. The prosthesis attempts to produce a natural level ground walking gait that approximates the joint torques and kinematics of a non-amputee while maintaining passively compliant joints, the stiffnesses of which were derived from biological quasi-stiffness measurements. The ankle of the prosthesis consists of a series elastic actuator with a parallel spring and the knee is composed of three different systems that must compliment each other to generate the correct joint behavior: a series elastic actuator, a lockable parallel spring and an energy transfer mechanism. Bench testing of this new prosthesis was completed and demonstrated that the device was able to create the expected torque-angle characteristics for a normal walker under ideal conditions. The experimental trials with four amputees walking on a treadmill to validate the behavior of the prosthesis proved that although the prosthesis could be controlled in a way that allowed all subjects to walk, the accurate timing and kinematic requirements of the output of the device limited the efficacy of using springs with quasi-static stiffnesses. Modification of the control and stiffness of the series springs could provide better performance in future work.
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Affiliation(s)
- Louis Flynn
- Department of Robotics and Multibody Mechanics, Vrije Universiteit Brussel, and Flanders Make, Brussels, Belgium
| | - Joost Geeroms
- Department of Robotics and Multibody Mechanics, Vrije Universiteit Brussel, and Flanders Make, Brussels, Belgium
| | - Rene Jimenez-Fabian
- Department of Robotics and Multibody Mechanics, Vrije Universiteit Brussel, and Flanders Make, Brussels, Belgium
| | - Sophie Heins
- Center for Research in Mechatronics, Institute of Mechanics, Materials, and Civil Engineering, Institute of Neuroscience, and Louvain Bionics, Université Catholique de Louvain, Louvain-la-Neuve, Belgium
| | - Bram Vanderborght
- Department of Robotics and Multibody Mechanics, Vrije Universiteit Brussel, and Flanders Make, Brussels, Belgium
| | - Marko Munih
- Robolab, Faculty of Electrical Engineering, University of Ljubljana, Ljubljana, Slovenia
| | | | - Nicola Vitiello
- Fondazione Don Carlo Gnocchi, Milan, Italy.,The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Dirk Lefeber
- Department of Robotics and Multibody Mechanics, Vrije Universiteit Brussel, and Flanders Make, Brussels, Belgium
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8
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Kashiri N, Abate A, Abram SJ, Albu-Schaffer A, Clary PJ, Daley M, Faraji S, Furnemont R, Garabini M, Geyer H, Grabowski AM, Hurst J, Malzahn J, Mathijssen G, Remy D, Roozing W, Shahbazi M, Simha SN, Song JB, Smit-Anseeuw N, Stramigioli S, Vanderborght B, Yesilevskiy Y, Tsagarakis N. An Overview on Principles for Energy Efficient Robot Locomotion. Front Robot AI 2018; 5:129. [PMID: 33501007 PMCID: PMC7805619 DOI: 10.3389/frobt.2018.00129] [Citation(s) in RCA: 30] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/18/2018] [Accepted: 11/01/2018] [Indexed: 11/21/2022] Open
Abstract
Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy efficiency in legged robotic systems, this paper provides an overview on recent advancements in development of such platforms. The covered different perspectives include actuation, leg structure, control and locomotion principles. We review various robotic actuators exploiting compliance in series and in parallel with the drive-train to permit energy recycling during locomotion. We discuss the importance of limb segmentation under efficiency aspects and with respect to design, dynamics analysis and control of legged robots. This paper also reviews a number of control approaches allowing for energy efficient locomotion of robots by exploiting the natural dynamics of the system, and by utilizing optimal control approaches targeting locomotion expenditure. To this end, a set of locomotion principles elaborating on models for energetics, dynamics, and of the systems is studied.
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Affiliation(s)
- Navvab Kashiri
- Humanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
| | - Andy Abate
- Dynamic Robotics Laboratory, School of MIME, Oregon State University, Corvallis, OR, United States
| | - Sabrina J. Abram
- Department of Biomedical Physiology and Kinesiology, Simon Fraser University, Burnaby, BC, Canada
| | - Alin Albu-Schaffer
- Robotics and Mechatronics Center, German Aerospace Center, Oberpfaffenhofen, Germany
| | - Patrick J. Clary
- Dynamic Robotics Laboratory, School of MIME, Oregon State University, Corvallis, OR, United States
| | - Monica Daley
- Structure and Motion Laboratory, Royal Veterinary College, Hertfordshire, United Kingdom
| | - Salman Faraji
- Biorobotics Laboratory, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
| | - Raphael Furnemont
- Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Manolo Garabini
- Centro di Ricerca “Enrico Piaggio”, University of Pisa, Pisa, Italy
| | - Hartmut Geyer
- Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, United States
| | - Alena M. Grabowski
- Applied Biomechanics Lab, Department of Integrative Physiology, University of Colorado, Boulder, CO, United States
| | - Jonathan Hurst
- Dynamic Robotics Laboratory, School of MIME, Oregon State University, Corvallis, OR, United States
| | - Jorn Malzahn
- Humanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
| | - Glenn Mathijssen
- Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - David Remy
- Robotics and Motion Laboratory, Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, United States
| | - Wesley Roozing
- Humanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
| | - Mohammad Shahbazi
- Humanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
| | - Surabhi N. Simha
- Department of Biomedical Physiology and Kinesiology, Simon Fraser University, Burnaby, BC, Canada
| | - Jae-Bok Song
- Department of Mechanical Engineering, Korea University, Seoul, South Korea
| | - Nils Smit-Anseeuw
- Robotics and Motion Laboratory, Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, United States
| | | | - Bram Vanderborght
- Robotics and Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Yevgeniy Yesilevskiy
- Robotics and Motion Laboratory, Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, United States
| | - Nikos Tsagarakis
- Humanoids and Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy
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Russell F, Zhu Y, Hey W, Vaidyanathan R, Ellison P. A biomimicking design for mechanical knee joints. BIOINSPIRATION & BIOMIMETICS 2018; 13:056012. [PMID: 30010617 DOI: 10.1088/1748-3190/aad39d] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/08/2023]
Abstract
In this paper we present a new bioinspired bicondylar knee joint that requires a smaller actuator size when compared to a constant moment arm joint. Unlike existing prosthetic joints, the proposed mechanism replicates the elastic, rolling and sliding elements of the human knee. As a result, the moment arm that the actuators can impart on the joint changes as function of the angle, producing the equivalent of a variable transmission. By employing a similar moment arm-angle profile as the human knee the peak actuator force for stair ascent can be reduced by 12% compared to a constant moment arm joint addressing critical impediments in weight and power for robotics limbs. Additionally, the knee employs mechanical 'ligaments' containing stretch sensors to replicate the neurosensory and compliant elements of the joint. We demonstrate experimentally how the ligament stretch can be used to estimate joint angle, therefore overcoming the difficulty of sensing position in a bicondylar joint.
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Affiliation(s)
- Felix Russell
- Mechanical Engineering Department, Imperial College London, London, United Kingdom. Author to whom any correspondence should be addressed
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10
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Cao W, Yu H, Zhao W, Meng Q, Chen W. The comparison of transfemoral amputees using mechanical and microprocessor- controlled prosthetic knee under different walking speeds: A randomized cross-over trial. Technol Health Care 2018; 26:581-592. [PMID: 29710741 DOI: 10.3233/thc-171157] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/15/2022]
Abstract
BACKGROUND The microprocessor-controlled prosthetic knees have been introduced to transfemoral amputees due to advances in biomedical engineering. A body of scientific literature has shown that the microprocessor-controlled prosthetic knees improve the gait and functional abilities of persons with transfemoral amputation. OBJECTIVE The aim of this study was to propose a new microprocessor-controlled prosthetic knee (MPK) and compare it with non-microprocessor-controlled prosthetic knees (NMPKs) under different walking speeds. METHODS The microprocessor-controlled prosthetic knee (i-KNEE) with hydraulic damper was developed. The comfortable self-selected walking speeds of 12 subjects with i-KNEE and NMPK were obtained. The maximum swing flexion knee angle and gait symmetry were compared in i-KNEE and NMPK condition. RESULTS The comfortable self-selected walking speeds of some subjects were higher with i-KNEE while some were not. There was no significant difference in comfortable self-selected walking speed between the i-KNEE and the NMPK condition (P= 0.138). The peak prosthetic knee flexion during swing in the i-KNEE condition was between sixty and seventy degree under any walking speed. In the NMPK condition, the maximum swing flexion knee angle changed significantly. And it increased with walking speed. There is no significant difference in knee kinematic symmetry when the subjects wear the i-KNEE or NMPK. CONCLUSIONS The results of this study indicated that the new microprocessor-controlled prosthetic knee was suitable for transfemoral amputees. The maximum swing flexion knee angle under different walking speeds showed different properties in the NMPK and i-KNEE condition. The i-KNEE was more adaptive to speed changes. There was little difference of comfortable self-selected walking speed between i-KNEE and NMPK condition.
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Affiliation(s)
- Wujing Cao
- Rehabilitation Engineering and Technology Institute, University of Shanghai for Science and Technology, Shanghai, China.,Shanghai Engineering Research Center of Assistive Devices, Shanghai, China
| | - Hongliu Yu
- Rehabilitation Engineering and Technology Institute, University of Shanghai for Science and Technology, Shanghai, China.,Shanghai Engineering Research Center of Assistive Devices, Shanghai, China.,Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai, China
| | - Weiliang Zhao
- Rehabilitation Engineering and Technology Institute, University of Shanghai for Science and Technology, Shanghai, China.,Shanghai Engineering Research Center of Assistive Devices, Shanghai, China
| | - Qiaoling Meng
- Rehabilitation Engineering and Technology Institute, University of Shanghai for Science and Technology, Shanghai, China.,Shanghai Engineering Research Center of Assistive Devices, Shanghai, China.,Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai, China
| | - Wenming Chen
- Rehabilitation Engineering and Technology Institute, University of Shanghai for Science and Technology, Shanghai, China.,Shanghai Engineering Research Center of Assistive Devices, Shanghai, China
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11
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Flynn LL, Geeroms J, van der Hoeven T, Vanderborght B, Lefeber D. VUB-CYBERLEGs CYBATHLON 2016 Beta-Prosthesis: case study in control of an active two degree of freedom transfemoral prosthesis. J Neuroeng Rehabil 2018; 15:3. [PMID: 29298695 PMCID: PMC5751827 DOI: 10.1186/s12984-017-0342-y] [Citation(s) in RCA: 12] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/01/2017] [Accepted: 12/13/2017] [Indexed: 11/21/2022] Open
Abstract
BACKGROUND Here we present how the CYBERLEGs Beta-Prosthesis was modified with a new control system to participate in the Powered Leg Prosthesis event, and to report on our experience at the CYBATHLON 2016 which was held in Zurich, Switzerland in October 2016. The prosthesis has two active degrees of freedom which assist the user with extra joint power at the knee and ankle to complete tasks. The CYBATHLON is a championship for people with disabilities competing in six disciplines, using advanced assistive devices. Tasks for CYBATHLON 2016 were chosen to reflect everyday normal task such as sitting and standing from a chair, obstacle avoidance, stepping stones, slope walking and descent, and stair climbing and descent. METHODS The control schemata were presented along with the description of each of the six tasks. The participant of the competition, the pilot, ran through each of the trials under lab conditions and representative behaviors were recorded. RESULTS The VUB CYBERLEGs prosthesis was able to accomplish, to some degree, five of the six tasks and here the torque and angle behaviors of the device while accomplishing these tasks are presented. The relatively simple control methods were able to provide assistive torque during many of the events, particularly sit to stand and stair climbing. For example, the prosthesis was able to consistently provide over 30 Nm in arresting knee torque in the sitting task, and over 20 Nm while standing. Peak torque of the device was not sufficient for unassisted stair climbing, but was able to provide around 60 Nm of assistance in both ascent and descent. Use of the passive behaviors of the device were shown to be able to trigger state machine events reliably for certain tasks. CONCLUSIONS Although the performance of the CYBERLEGs prosthesis during CYBATHLON 2016 did not compare to the other top of the market designs with regards to speed, the device performed all of the tasks that were deemed possible by the start of the competition. Moreover, the Pilot was able to accomplish tasks in ways the Pilot's personal microcontrolled prosthesis could not, with limited powered prosthesis training. Future studies will focus on decreasing weight, increasing reliability, incorporating better control, and increasing the velocity of the device. This is only a case study and actual benefits to clinical outcomes are not yet understood and need to be further investigated. This competition was a unique experience to illuminate problems that future versions of the device will be able to solve.
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Affiliation(s)
- Louis L. Flynn
- Robotics and Multibody Mechanics, Flanders Make, Vrije Universiteit Brussel, Pleinlaan 2, Brussels, B-1050 Belgium
| | - Joost Geeroms
- Robotics and Multibody Mechanics, Flanders Make, Vrije Universiteit Brussel, Pleinlaan 2, Brussels, B-1050 Belgium
| | - Tom van der Hoeven
- Robotics and Multibody Mechanics, Flanders Make, Vrije Universiteit Brussel, Pleinlaan 2, Brussels, B-1050 Belgium
| | - Bram Vanderborght
- Robotics and Multibody Mechanics, Flanders Make, Vrije Universiteit Brussel, Pleinlaan 2, Brussels, B-1050 Belgium
| | - Dirk Lefeber
- Robotics and Multibody Mechanics, Flanders Make, Vrije Universiteit Brussel, Pleinlaan 2, Brussels, B-1050 Belgium
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Parri A, Martini E, Geeroms J, Flynn L, Pasquini G, Crea S, Molino Lova R, Lefeber D, Kamnik R, Munih M, Vitiello N. Whole Body Awareness for Controlling a Robotic Transfemoral Prosthesis. Front Neurorobot 2017; 11:25. [PMID: 28611621 PMCID: PMC5448151 DOI: 10.3389/fnbot.2017.00025] [Citation(s) in RCA: 18] [Impact Index Per Article: 2.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/01/2017] [Accepted: 05/12/2017] [Indexed: 12/03/2022] Open
Abstract
Restoring locomotion functionality of transfemoral amputees is essential for early rehabilitation treatment and for preserving mobility and independence in daily life. Research in wearable robotics fostered the development of innovative active mechatronic lower-limb prostheses designed with the goal to reduce the cognitive and physical effort of lower-limb amputees in rehabilitation and daily life activities. To ensure benefits to the users, active mechatronic prostheses are expected to be aware of the user intention and properly interact in a closed human-in-the-loop paradigm. In the state of the art various cognitive interfaces have been proposed to online decode the user's intention. Electromyography in combination with mechanical sensing such as inertial or pressure sensors is a widely adopted solution for driving active mechatronic prostheses. In this framework, researchers also explored targeted muscles re-innervation for an objective-oriented surgical amputation promoting wider usability of active prostheses. However, information kept by the neural component of the cognitive interface deteriorates in a prolonged use scenario due to electrodes-related issues, thereby undermining the correct functionality of the active prosthesis. The objective of this work is to present a novel controller for an active transfemoral prosthesis based on whole body awareness relying on a wireless distributed non-invasive sensory apparatus acting as cognitive interface. A finite-state machine controller based on signals monitored from the wearable interface performs subject-independent intention detection of functional tasks such as ground level walking, stair ascent, and sit-to-stand maneuvres and their main sub-phases. Experimental activities carried out with four transfemoral amputees (among them one dysvascular) demonstrated high reliability of the controller capable of providing 100% accuracy rate in treadmill walking even for weak subjects and low walking speeds. The minimum success rate was of 94.8% in performing sit-to-stand tasks. All the participants showed high confidence in using the transfemoral active prosthesis even without training period thanks to intuitiveness of the whole body awareness controller.
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Affiliation(s)
- Andrea Parri
- The BioRobotics Institute, Scuola Superiore Sant'AnnaPisa, Italy
| | - Elena Martini
- The BioRobotics Institute, Scuola Superiore Sant'AnnaPisa, Italy
| | - Joost Geeroms
- Robotics and Multibody Mechanics, Flanders Make, Vrije Universiteit BrusselBrussels, Belgium
| | - Louis Flynn
- Robotics and Multibody Mechanics, Flanders Make, Vrije Universiteit BrusselBrussels, Belgium
| | | | - Simona Crea
- The BioRobotics Institute, Scuola Superiore Sant'AnnaPisa, Italy
| | | | - Dirk Lefeber
- Robotics and Multibody Mechanics, Flanders Make, Vrije Universiteit BrusselBrussels, Belgium
| | - Roman Kamnik
- Laboratory of Robotics at the Faculty of Electrical Engineering, University of LjubljanaLjubljana, Slovenia
| | - Marko Munih
- Laboratory of Robotics at the Faculty of Electrical Engineering, University of LjubljanaLjubljana, Slovenia
| | - Nicola Vitiello
- The BioRobotics Institute, Scuola Superiore Sant'AnnaPisa, Italy.,Don Carlo Gnocchi FoundationFlorence, Italy
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Mathijssen G, Furnémont R, Verstraten T, Espinoza C, Beckers S, Lefeber D, Vanderborght B. Study on electric energy consumed in intermittent series-parallel elastic actuators (iSPEA). BIOINSPIRATION & BIOMIMETICS 2017; 12:036008. [PMID: 28287398 DOI: 10.1088/1748-3190/aa664d] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/06/2023]
Abstract
On compliant actuators, intermittent series-parallel elastic actuators (iSPEA) can reduce motor load by variable load cancellation through recruitment of parallel springs by a single motor. However, the potential to reduce electric energy consumed, compared to a traditional stiff driven joint has not yet been evaluated thoroughly both in simulations and experiments. We have developed a 1DOF MACCEPA-based iSPEA test bench with a self-closing intermittent mechanism. An iSPEA driven warehouse robot is used as a case study in simulation. A method to compare iSPEA and traditional actuators is proposed. This paper shows a match between our simulations and experimental results regarding electric energy consumed. Although the chosen gear ratio shows to be detrimental for both the stiff actuator and the iSPEA, the electric energy consumed by the iSPEA is about 25% to 67% of the stiff actuator, for a warehouse robot placing 3 objects on a shelf.
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Affiliation(s)
- Glenn Mathijssen
- Interdepartmental Research Centre E. Piaggio, Faculty of Engineering, University of Pisa, Italy. http://centropiaggio.unipi.it
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