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Mazzarini A, Fagioli I, Eken H, Livolsi C, Ciapetti T, Maselli A, Piazzini M, Macchi C, Davalli A, Gruppioni E, Trigili E, Crea S, Vitiello N. Improving Walking Energy Efficiency in Transtibial Amputees Through the Integration of a Low-Power Actuator in an ESAR Foot. IEEE Trans Neural Syst Rehabil Eng 2024; 32:1397-1406. [PMID: 38507380 DOI: 10.1109/tnsre.2024.3379904] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/22/2024]
Abstract
Reducing energy consumption during walking is a critical goal for transtibial amputees. The study presents the evaluation of a semi-active prosthesis with five transtibial amputees. The prosthesis has a low-power actuator integrated in parallel into an energy-storing-and-releasing foot. The actuator is controlled to compress the foot during the stance phase, supplementing the natural compression due to the user's dynamic interaction with the ground, particularly during the ankle dorsiflexion phase, and to release the energy stored in the foot during the push-off phase, to enhance propulsion. The control strategy is adaptive to the user's gait patterns and speed. The clinical protocol to evaluate the system included treadmill and overground walking tasks. The results showed that walking with the semi-active prosthesis reduced the Physiological Cost Index of transtibial amputees by up to 16% compared to walking using the subjects' proprietary prosthesis. No significant alterations were observed in the spatiotemporal gait parameters of the participants, indicating the module's compatibility with users' natural walking patterns. These findings highlight the potential of the mechatronic actuator in effectively reducing energy expenditure during walking for transtibial amputees. The proposed prosthesis may bring a positive impact on the quality of life, mobility, and functional performance of individuals with transtibial amputation.
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Eken H, Lanotte F, Papapicco V, Penna MF, Gruppioni E, Trigili E, Crea S, Vitiello N. A Locomotion Mode Recognition Algorithm Using Adaptive Dynamic Movement Primitives. IEEE Trans Neural Syst Rehabil Eng 2023; 31:4318-4328. [PMID: 37883286 DOI: 10.1109/tnsre.2023.3327751] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/28/2023]
Abstract
Control systems of robotic prostheses should be designed to decode the users' intent to start, stop, or change locomotion; and to select the suitable control strategy, accordingly. This paper describes a locomotion mode recognition algorithm based on adaptive Dynamic Movement Primitive models used as locomotion templates. The models take foot-ground contact information and thigh roll angle, measured by an inertial measurement unit, for generating continuous model variables to extract features for a set of Support Vector Machines. The proposed algorithm was tested offline on data acquired from 10 intact subjects and 1 subject with transtibial amputation, in ground-level walking and stair ascending/descending activities. Following subject-specific training, results on intact subjects showed that the algorithm can classify initiatory and steady-state steps with up to 100.00% median accuracy medially at 28.45% and 27.40% of the swing phase, respectively. While the transitory steps were classified with up to 87.30% median accuracy medially at 90.54% of the swing phase. Results with data of the transtibial amputee showed that the algorithm classified initiatory, steady-state, and transitory steps with up to 92.59%, 100%, and 93.10% median accuracies medially at 19.48%, 51.47%, and 93.33% of the swing phase, respectively. The results support the feasibility of this approach in robotic prosthesis control.
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Mazzarini A, Fantozzi M, Papapicco V, Fagioli I, Lanotte F, Baldoni A, Dell’Agnello F, Ferrara P, Ciapetti T, Molino Lova R, Gruppioni E, Trigili E, Crea S, Vitiello N. A low-power ankle-foot prosthesis for push-off enhancement. WEARABLE TECHNOLOGIES 2023; 4:e18. [PMID: 38487780 PMCID: PMC10936261 DOI: 10.1017/wtc.2023.13] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/19/2022] [Revised: 05/04/2023] [Accepted: 05/04/2023] [Indexed: 03/17/2024]
Abstract
Passive ankle-foot prostheses are light-weighted and reliable, but they cannot generate net positive power, which is essential in restoring the natural gait pattern of amputees. Recent robotic prostheses addressed the problem by actively controlling the storage and release of energy generated during the stance phase through the mechanical deformation of elastic elements housed in the device. This study proposes an innovative low-power active prosthetic module that fits on off-the-shelf passive ankle-foot energy-storage-and-release (ESAR) prostheses. The module is placed parallel to the ESAR foot, actively augmenting the energy stored in the foot and controlling the energy return for an enhanced push-off. The parallel elastic actuation takes advantage of the amputee's natural loading action on the foot's elastic structure, retaining its deformation. The actuation unit is designed to additionally deform the foot and command the return of the total stored energy. The control strategy of the prosthesis adapts to changes in the user's cadence and loading conditions to return the energy at a desired stride phase. An early verification on two transtibial amputees during treadmill walking showed that the proposed mechanism could increase the subjects' dorsiflexion peak of 15.2% and 41.6% for subjects 1 and 2, respectively, and the cadence of about 2%. Moreover, an increase of 26% and 45% was observed in the energy return for subjects 1 and 2, respectively.
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Affiliation(s)
- Alessandro Mazzarini
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
- Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna, Pisa, Italy
| | | | - Vito Papapicco
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
| | - Ilaria Fagioli
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
- Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna, Pisa, Italy
| | - Francesco Lanotte
- Department of Physical Medicine and Rehabilitation, Northwestern University, Chicago, IL, USA
- Max Nader Laboratory for Rehabilitation Technologies and Outcomes Research, Shirley Ryan AbilityLab, Chicago, IL, USA
| | - Andrea Baldoni
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
- Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna, Pisa, Italy
| | - Filippo Dell’Agnello
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
- Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna, Pisa, Italy
| | - Paolo Ferrara
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
| | - Tommaso Ciapetti
- Institute of Recovery and Care of Scientific Character (IRCCS), Fondazione Don Carlo Gnocchi Florence, Firenze, Italy
| | - Raffaele Molino Lova
- Institute of Recovery and Care of Scientific Character (IRCCS), Fondazione Don Carlo Gnocchi Florence, Firenze, Italy
| | | | - Emilio Trigili
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
- Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna, Pisa, Italy
| | - Simona Crea
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
- Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna, Pisa, Italy
| | - Nicola Vitiello
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
- Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna, Pisa, Italy
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Cui J, Yan B, Du H, Shang Y, Tong L. Application of Foot Hallux Contact Force Signal for Assistive Hand Fine Control. SENSORS (BASEL, SWITZERLAND) 2023; 23:s23115277. [PMID: 37300003 DOI: 10.3390/s23115277] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/27/2023] [Revised: 05/20/2023] [Accepted: 05/29/2023] [Indexed: 06/12/2023]
Abstract
Accurate recognition of disabled persons' behavioral intentions is the key to reconstructing hand function. Their intentions can be understood to some extent by electromyography (EMG), electroencephalogram (EEG), and arm movements, but they are not reliable enough to be generally accepted. In this paper, characteristics of foot contact force signals are investigated, and a method of expressing grasping intentions based on hallux (big toe) touch sense is proposed. First, force signals acquisition methods and devices are investigated and designed. By analyzing characteristics of signals in different areas of the foot, the hallux is selected. The peak number and other characteristic parameters are used to characterize signals, which can significantly express grasping intentions. Second, considering complex and fine tasks of the assistive hand, a posture control method is proposed. Based on this, many human-in-the-loop experiments are conducted using human-computer interaction methods. The results showed that people with hand disabilities could accurately express their grasping intentions through their toes, and could accurately grasp objects of different sizes, shapes, and hardness using their feet. The accuracy of the action completion for single-handed and double-handed disabled individuals was 99% and 98%, respectively. This proves that the method of using toe tactile sensation for assisting disabled individuals in hand control can help them complete daily fine motor activities. The method is easily acceptable in terms of reliability, unobtrusiveness, and aesthetics.
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Affiliation(s)
- Jianwei Cui
- School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
| | - Bingyan Yan
- School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
| | - Han Du
- School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
| | - Yucheng Shang
- School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
| | - Liyan Tong
- School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
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