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Luo S, Meng Q, Li S, Yu H. Research of intent recognition in rehabilitation robots: a systematic review. Disabil Rehabil Assist Technol 2024; 19:1307-1318. [PMID: 36695473 DOI: 10.1080/17483107.2023.2170477] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/21/2022] [Revised: 01/10/2023] [Accepted: 01/16/2023] [Indexed: 01/26/2023]
Abstract
PURPOSE Rehabilitation robots with intent recognition are helping people with dysfunction to enjoy better lives. Many rehabilitation robots with intent recognition have been developed by academic institutions and commercial companies. However, there is no systematic summary about the application of intent recognition in the field of rehabilitation robots. Therefore, the purpose of this paper is to summarize the application of intent recognition in rehabilitation robots, analyze the current status of their research, and provide cutting-edge research directions for colleagues. MATERIALS AND METHODS Literature searches were conducted on Web of Science, IEEE Xplore, ScienceDirect, SpringerLink, and Medline. Search terms included "rehabilitation robot", "intent recognition", "exoskeleton", "prosthesis", "surface electromyography (sEMG)" and "electroencephalogram (EEG)". References listed in relevant literature were further screened according to inclusion and exclusion criteria. RESULTS In this field, most studies have recognized movement intent by kinematic, sEMG, and EEG signals. However, in practical studies, the development of intent recognition in rehabilitation robots is limited by the hysteresis of kinematic signals and the weak anti-interference ability of sEMG and EEG signals. CONCLUSIONS Intent recognition has achieved a lot in the field of rehabilitation robotics but the key factors limiting its development are still timeliness and accuracy. In the future, intent recognition strategy with multi-sensor information fusion may be a good solution.
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Affiliation(s)
- Shengli Luo
- Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China
| | | | - Sujiao Li
- Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China
| | - Hongliu Yu
- Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China
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Lathouwers E, Baeyens JP, Tassignon B, Gomez F, Cherelle P, Meeusen R, Vanderborght B, De Pauw K. Continuous relative phases of walking with an articulated passive ankle-foot prosthesis in individuals with a unilateral transfemoral and transtibial amputation: an explorative case-control study. Biomed Eng Online 2023; 22:14. [PMID: 36793091 PMCID: PMC9933324 DOI: 10.1186/s12938-023-01074-2] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/28/2022] [Accepted: 01/25/2023] [Indexed: 02/17/2023] Open
Abstract
BACKGROUND A mechanical ankle-foot prosthesis (Talaris Demonstrator) was developed to improve prosthetic gait in people with a lower-limb amputation. This study aims to evaluate the Talaris Demonstrator (TD) during level walking by mapping coordination patterns based on the sagittal continuous relative phase (CRP). METHODS Individuals with a unilateral transtibial amputation, transfemoral amputation and able-bodied individuals completed 6 minutes of treadmill walking in consecutive blocks of 2 minutes at self-selected (SS) speed, 75% SS speed and 125% SS speed. Lower extremity kinematics were captured and hip-knee and knee-ankle CRPs were calculated. Statistical non-parametric mapping was applied and statistical significance was set at 0.05. RESULTS The hip-knee CRP at 75% SS walking speed with the TD was larger in the amputated limb of participants with a transfemoral amputation compared to able-bodied individuals at the beginning and end of the gait cycle (p = 0.009). In people with a transtibial amputation, the knee-ankle CRP at SS and 125% SS walking speeds with the TD were smaller in the amputated limb at the beginning of the gait cycle compared to able-bodied individuals (p = 0.014 and p = 0.014, respectively). Additionally, no significant differences were found between both prostheses. However, visual interpretation indicates a potential advantage of the TD over the individual's current prosthesis. CONCLUSION This study provides lower-limb coordination patterns in people with a lower-limb amputation and reveals a possible beneficial effect of the TD over the individuals' current prosthesis. Future research should include a well-sampled investigation of the adaptation process combined with the prolonged effects of the TD.
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Affiliation(s)
- Elke Lathouwers
- grid.8767.e0000 0001 2290 8069Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050 Brussels, Belgium ,grid.8767.e0000 0001 2290 8069Brussels Human Robotics Research Center (BruBotics), Vrije Universiteit Brussel, 1050 Brussels, Belgium
| | - Jean-Pierre Baeyens
- grid.8767.e0000 0001 2290 8069Experimental Anatomy Research Group, Faculty of Physical Education and Physiotherapy, Vrije Universiteit Brussel, Brussels, Belgium ,THIM, Internationale Hochschule Fur Physiotherapîe, Landquart, Switzerland ,grid.5284.b0000 0001 0790 3681Faculty of Applied Engineering Sciences, Universiteit Antwerpen, Antwerp, Belgium
| | - Bruno Tassignon
- grid.8767.e0000 0001 2290 8069Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050 Brussels, Belgium
| | | | | | - Romain Meeusen
- grid.8767.e0000 0001 2290 8069Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050 Brussels, Belgium ,grid.8767.e0000 0001 2290 8069Brussels Human Robotics Research Center (BruBotics), Vrije Universiteit Brussel, 1050 Brussels, Belgium
| | - Bram Vanderborght
- grid.8767.e0000 0001 2290 8069Brussels Human Robotics Research Center (BruBotics), Vrije Universiteit Brussel, 1050 Brussels, Belgium ,grid.8767.e0000 0001 2290 8069Robotics Research Group, Vrije Universiteit Brussel and IMEC, Brussels, Belgium
| | - Kevin De Pauw
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050, Brussels, Belgium. .,Brussels Human Robotics Research Center (BruBotics), Vrije Universiteit Brussel, 1050, Brussels, Belgium.
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Evaluation of an articulated passive ankle-foot prosthesis. Biomed Eng Online 2022; 21:28. [PMID: 35477464 PMCID: PMC9047309 DOI: 10.1186/s12938-022-00997-6] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/17/2022] [Accepted: 04/08/2022] [Indexed: 11/17/2022] Open
Abstract
Background Current ankle prostheses for people with unilateral transtibial amputation (TTA) or transfemoral amputation (TFA) are unable to mimic able-bodied performance during daily activities. A new mechanical ankle–foot prosthesis was developed to further optimise the gait of people with a lower-limb amputation. This study aimed to evaluate the Talaris Demonstrator (TD) during daily activities by means of performance-related, physiological and subjective outcome measures. Materials and methods Forty-two participants completed a protocol assessing performance and functional mobility with their current prosthesis and the TD. The protocol comprised the L-test, 2 min of stair climbing, 2 min of inclined treadmill walking, 6 min of treadmill walking at 3 different speeds in consecutive blocks of 2 min, and a 3-m Backward Walk test (3mBWT). Heart rate was measured during each task, and oxygen uptake was collected during all tasks except for the L-test and 3mBWT. Time of execution was recorded on the L-test and 3mBWT, and the rate of perceived exertion (score = 6–20), fatigue and comfort (score = 0–100) were assessed after each task. Paired sample t-tests and Wilcoxon Signed-rank tests were performed to compare outcomes between prosthetic devices. Benjamini–Hochberg corrections were applied to control for multiple comparisons with a level of significance set at α = 0.05. Results Subjects with a TTA (N = 28) were faster with their current prosthesis compared to the TD on the L-test and 3mBWT (p = 0.005). In participants with a TFA (N = 14), we observed a tendency towards a higher heart rate during the L-test and towards increased comfort during inclined walking, with the TD compared to the participants’ current prosthetic device (0.05 < p < 0.10). Further, no significant results were observed. Conclusion The Talaris Demonstrator is a novel state-of-the-art passive ankle–foot prosthesis for both people with a TTA and TFA. Subjective measures indicate the added value of this device, while overall task performance and intensity of effort do not differ between the Talaris Demonstrator and the current prosthesis. Further investigations unravelling both acute and more prolonged adaptations will be conducted to evaluate the TD more thoroughly.
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Catalano MG, Pollayil MJ, Grioli G, Valsecchi G, Kolvenbach H, Hutter M, Bicchi A, Garabini M. Adaptive Feet for Quadrupedal Walkers. IEEE T ROBOT 2022. [DOI: 10.1109/tro.2021.3088060] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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Grimmer M, Elshamanhory AA, Beckerle P. Human Lower Limb Joint Biomechanics in Daily Life Activities: A Literature Based Requirement Analysis for Anthropomorphic Robot Design. Front Robot AI 2021; 7:13. [PMID: 33501182 PMCID: PMC7805781 DOI: 10.3389/frobt.2020.00013] [Citation(s) in RCA: 9] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/17/2019] [Accepted: 01/21/2020] [Indexed: 01/09/2023] Open
Abstract
Daily human activity is characterized by a broad variety of movement tasks. This work summarizes the sagittal hip, knee, and ankle joint biomechanics for a broad range of daily movements, based on previously published literature, to identify requirements for robotic design. Maximum joint power, moment, angular velocity, and angular acceleration, as well as the movement-related range of motion and the mean absolute power were extracted, compared, and analyzed for essential and sportive movement tasks. We found that the full human range of motion is required to mimic human like performance and versatility. In general, sportive movements were found to exhibit the highest joint requirements in angular velocity, angular acceleration, moment, power, and mean absolute power. However, at the hip, essential movements, such as recovery, had comparable or even higher requirements. Further, we found that the moment and power demands were generally higher in stance, while the angular velocity and angular acceleration were mostly higher or equal in swing compared to stance for locomotion tasks. The extracted requirements provide a novel comprehensive overview that can help with the dimensioning of actuators enabling tailored assistance or rehabilitation for wearable lower limb robots, and to achieve essential, sportive or augmented performances that exceed natural human capabilities with humanoid robots.
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Affiliation(s)
- Martin Grimmer
- Lauflabor Locomotion Laboratory, Department of Human Sciences, Institute of Sports Science, Technische Universität Darmstadt, Darmstadt, Germany
| | | | - Philipp Beckerle
- Elastic Lightweight Robotics Group, Department of Electrical Engineering and Information Technology, Robotics Research Institute, Technische Universität Dortmund, Dortmund, Germany.,Institute for Mechatronic Systems, Mechanical Engineering, Technische Universität Darmstadt, Darmstadt, Germany
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Bartlett HL, King ST, Goldfarb M, Lawson BE. A Semi-Powered Ankle Prosthesis and Unified Controller for Level and Sloped Walking. IEEE Trans Neural Syst Rehabil Eng 2021; 29:320-329. [PMID: 33400653 DOI: 10.1109/tnsre.2021.3049194] [Citation(s) in RCA: 13] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
This paper describes a semi-powered ankle prosthesis and corresponding unified controller that provides biomimetic behavior for level and sloped walking without requiring identification of ground slope or modulation of control parameters. The controller is based on the observation that healthy individuals maintain an invariant external quasi-stiffness (spring like behavior between the shank and ground) when walking on level and sloped terrain. Emulating an invariant external quasi-stiffness requires an ankle that can vary the set-point (i.e., equilibrium angle) of the ankle stiffness. A semi-powered ankle prosthesis that incorporates a novel constant-volume power-asymmetric actuator was developed to provide this behavior, and the unified controller was implemented on it. The device and unified controller were assessed on three subjects with transtibial amputations while walking on inclines, level ground, and declines. Experimental results suggest that the prosthesis and accompanying controller can provide a consistent external quasi-stiffness similar to healthy subjects across all tested ground slopes.
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Prosthetic gait of unilateral lower-limb amputees with current and novel prostheses: A pilot study. Clin Biomech (Bristol, Avon) 2020; 71:59-67. [PMID: 31704536 DOI: 10.1016/j.clinbiomech.2019.10.028] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 01/07/2019] [Revised: 07/18/2019] [Accepted: 10/29/2019] [Indexed: 02/07/2023]
Abstract
BACKGROUND Novel lower-limb prostheses aim to improve the quality of locomotion of individuals with an amputation. This study evaluates the biomechanics of a novel bionic foot during walking. METHODS Able-bodied individuals (n = 7) and individuals with a transfemoral (n = 6) or transtibial amputation (n = 6) were included. Able-bodied individuals conducted one experimental trial, whereas individuals with transtibial and transfemoral amputations conducted a familiarization (with current prosthesis) and two experimental trials using a passive and bionic prosthesis. Each trial consisted of 3 bouts of 2 min of treadmill walking at different speeds. Biomechanical data were gathered using a force platform and motion capture system and analysed using Statistical Parametric Mapping and (non)-parametric tests. FINDINGS Conventional prosthetic feet alter gait patterns and induce locomotion difficulties. While walking at a normal speed with the passive prosthesis, transtibial amputees display reduced maximum heel forces, increased ankle and trunk angular velocities at midstance, and increased knee angle during stance and swing phases on their effected side (P ≤ 0.026). Improved lower-limb kinematics was demonstrated during slow and normal speed walking with the bionic prosthesis; however, dynamic trunk stability was negatively impacted during this condition. The bionic prosthesis did not benefit transfemoral amputees at any walking speed. INTERPRETATION Transtibial amputees can better approximate typical movement patterns at slow and normal walking speeds using the novel bionic prosthesis; however the same benefit was not observed in transfemoral amputees.
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Heremans F, Vijayakumar S, Bouri M, Dehez B, Ronsse R. Bio-inspired design and validation of the Efficient Lockable Spring Ankle (ELSA) prosthesis. IEEE Int Conf Rehabil Robot 2019; 2019:411-416. [PMID: 31374664 DOI: 10.1109/icorr.2019.8779421] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Abstract
Over the last decade, active lower-limb prostheses demonstrated their ability to restore a physiological gait for transfemoral amputees by supplying the required positive energy balance during daily life locomotion activities. However, the added-value of such devices is significantly impacted by their limited energetic autonomy, excessive weight and cost, thus preventing their full appropriation by the users. There is thus a strong incentive to produce active yet affordable, lightweight and energy efficient devices. To address these issues, we developed the ELSA (Efficient Lockable Spring Ankle) prosthesis embedding both a lockable parallel spring and a series elastic actuator, tailored to the walking dynamics of a sound ankle. The first contribution of this paper concerns the developement of a bio-inspired, lightweight and stiffness-adjustable parallel spring, comprising an energy efficient ratchet and pawl mechanism with servo actuation. The second contribution is the addition of a complementary rope-driven series elastic actuator to generate the active push-off. The system produces a sound ankle torque pattern during flat ground walking. Up to 50% of the peak torque is generated passively at a negligible energetic cost (0.1 J/stride). By design, the total system is lightweight (1.2kg) and low cost.
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Cognitive performance and brain dynamics during walking with a novel bionic foot: A pilot study. PLoS One 2019; 14:e0214711. [PMID: 30943265 PMCID: PMC6447229 DOI: 10.1371/journal.pone.0214711] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/22/2018] [Accepted: 03/19/2019] [Indexed: 11/19/2022] Open
Abstract
OBJECTIVES The objectives are to determine neural dynamics during gait using electro-encephalography and source localization, and to investigate the attentional demand during walking in able-bodied individuals, and individuals with an amputation. MATERIALS & METHODS Six able-bodied individuals conducted one experimental trial, and 6 unilateral transtibial and 6 unilateral transfemoral amputees performed 2 experimental trials; the first with the prosthesis currently used by the subjects and the second with a novel powered transtibial prosthesis, i.e. the Ankle Mimicking Prosthetic foot 4.0. Each experimental trial comprised 2 walking tasks; 6 and 2 minutes treadmill walking at normal speed interspersed by 5 minutes of rest. During 6 minutes walking the Sustained Attention to Response (go-no go) Task, which measures reaction time and accuracy, was performed. Electro-encephalographic data were gathered when subjects walked 2 minutes. Motor-related cortical potentials and brain source activity during gait were examined. Normality and (non-) parametric tests were conducted (p<0.05). RESULTS AND DISCUSSION In contrast to transtibial amputees, transfemoral amputees required more attentional demands during walking with Ankle Mimicking Prosthetic foot 4.0 compared to the current passive prosthetic device and able-bodied individuals (reaction time and accuracy: p≤0.028). Since risk of falling is associated with altered attentional demands, propulsive forces of the novel device need to be better controlled for transfemoral amputees. No motor-related cortical potentials at Cz were observed in transfemoral amputees walking with the novel prosthesis, whereas motor-related cortical potentials between transtibial amputees and able-bodied individuals during walking at normal speed did not differ. The first positive electro-physiological peak deflection appeared during toe-off phase and showed higher activity within the underlying brain sources in transtibial amputees walking with Ankle Mimicking Prosthetic foot 4.0 compared to able-bodied individuals. The required higher neural input to accomplish the same physical activity compared to able-bodied individuals is possibly due to the limited acclimation period to the novel device and consequently increased afferent sensory feedback for postural control.
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De Pauw K, Cherelle P, Roelands B, Lefeber D, Meeusen R. The efficacy of the Ankle Mimicking Prosthetic Foot prototype 4.0 during walking: Physiological determinants. Prosthet Orthot Int 2018; 42:504-510. [PMID: 29623812 DOI: 10.1177/0309364618767141] [Citation(s) in RCA: 10] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Indexed: 02/03/2023]
Abstract
BACKGROUND Evaluating the effectiveness of a novel prosthetic device during walking is an important step in product development. OBJECTIVE To investigate the efficacy of a novel quasi-passive ankle prosthetic device, Ankle Mimicking Prosthetic Foot 4.0, during walking at different speeds, using physiological determinants in transtibial and transfemoral amputees. STUDY DESIGN Nonrandomized crossover design for amputees. METHODS Six able-bodied subjects, six unilateral transtibial amputees, and six unilateral transfemoral amputees underwent a 6-min walk test at normal speed, followed by series of 2-min walking at slow, normal, and fast speeds. The intensity of effort and subjective measures were determined. Amputees performed all walking tests on a treadmill with current and novel prostheses. Shapiro-Wilk normality tests and parametric and nonparametric tests were conducted (p < 0.05). RESULTS Compared to able-bodied individuals, the rating of perceived exertion levels were significantly elevated in transtibial and transfemoral amputees for both prostheses (p ≤ 0.016). Compared to able-bodied individuals transfemoral amputees also showed significantly elevated heart rate for both prostheses at normal speed (p ≤ 0.043). Within-group comparisons demonstrated that walking with Ankle Mimicking Prosthetic Foot significantly increased the heart rate in transfemoral amputees and transtibial compared to current prosthesis (p = 0.002). Furthermore, transfemoral amputees reached a significantly higher rating of perceived exertion levels. CONCLUSION Intensity of effort during walking with Ankle Mimicking Prosthetic Foot is higher compared to current prostheses. Clinical relevance Ankle Mimicking Prosthetic Foot 4.0 is a novel quasi-passive ankle prosthesis with state-of-the-art technological parts. Subjective measures show the importance of this technology, but the intensity of effort during walking still remains higher compared to current passive prostheses, especially in transfemoral amputees.
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Affiliation(s)
- Kevin De Pauw
- 1 Research Group Human Physiology, Faculty of Physical Education and Physical Therapy, Vrije Universiteit Brussel, Brussels, Belgium.,2 Department of Mechanical Engineering, Faculty of Applied Sciences, Vrije Universiteit Brussel, Brussels, Belgium
| | - Pierre Cherelle
- 2 Department of Mechanical Engineering, Faculty of Applied Sciences, Vrije Universiteit Brussel, Brussels, Belgium
| | - Bart Roelands
- 1 Research Group Human Physiology, Faculty of Physical Education and Physical Therapy, Vrije Universiteit Brussel, Brussels, Belgium
| | - Dirk Lefeber
- 2 Department of Mechanical Engineering, Faculty of Applied Sciences, Vrije Universiteit Brussel, Brussels, Belgium.,3 Strategic Research Program, Vrije Universiteit Brussel, Brussels, Belgium
| | - Romain Meeusen
- 1 Research Group Human Physiology, Faculty of Physical Education and Physical Therapy, Vrije Universiteit Brussel, Brussels, Belgium.,3 Strategic Research Program, Vrije Universiteit Brussel, Brussels, Belgium
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A New and Versatile Adjustable Rigidity Actuator with Add-on Locking Mechanism (ARES-XL). ACTUATORS 2018. [DOI: 10.3390/act7010001] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
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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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Bartlett HL, Lawson BE, Goldfarb M. Design of a power-asymmetric actuator for a transtibial prosthesis. IEEE Int Conf Rehabil Robot 2017; 2017:1531-1536. [PMID: 28814037 DOI: 10.1109/icorr.2017.8009465] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Abstract
This paper presents the design and characterization of a power-asymmetric actuator for a transtibial prosthesis. The device is designed to provide the combination of: 1) joint locking, 2) high power dissipation, and 3) low power generation. This actuator functionality allows for a prosthesis to be designed with minimal mass and power consumption relative to a fully-powered robotic prosthesis while maintaining much of the functionality necessary for activities of daily living. The actuator achieves these design characteristics while maintaining a small form factor by leveraging a combination of electromechanical and hydraulic components. The design of the actuator is described herein, and results of an experimental characterization are provided that indicate that the actuator is capable of providing the functional capabilities required of an ankle prosthesis in a compact and lightweight package.
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Christ O, Beckerle P. Towards active lower limb prosthetic systems: design issues and solutions. Biomed Eng Online 2016; 15:139. [PMID: 28105949 PMCID: PMC5249020 DOI: 10.1186/s12938-016-0283-x] [Citation(s) in RCA: 6] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Key Words] [Track Full Text] [Download PDF] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022] Open
Affiliation(s)
- Oliver Christ
- School of Applied Psychology, Institute Humans in Complex Systems, University of Applied Sciences and Arts Northwestern Switzerland, Olten, Switzerland.
| | - Philipp Beckerle
- Institute for Mechatronic Systems in Mechanical Engineering, Technische Universität Darmstadt, Darmstadt, Germany
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