Kannape, Oliver and Herr, Hugh M (2014) Volitional control of ankle plantar flexion in a powered transtibial prosthesis during stair-ambulation. Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2014 . pp. 1662-5. ISSN 1557-170X
Official URL: http://biomech.media.mit.edu/wp-content/uploads/si...
Although great advances have been made in the design and control of lower extremity prostheses, walking on different terrains, such as ramps or stairs, and transitioning between these terrains remains a major challenge for the field. In order to generalize biomimetic behaviour of active lower-limb prostheses top-down volitional control is required but has until recently been deemed unfeasible due to the difficulties involved in acquiring an adequate electromyographic (EMG) signal. In this study, we hypothesize that a transtibial amputee can extend the functionality of a hybrid controller, designed for level ground walking, to stair ascent and descent by volitionally modulating powered plantar-flexion of the prosthesis. We here present data illustrating that the participant is able to reproduce ankle push-off behaviour of the intrinsic controller during stair ascent as well as prevent inadvertent push-off during stair descent. Our findings suggest that EMG signal from the residual limb muscles can be used to transition between level-ground walking and stair ascent/descent within a single step and significantly improve prosthesis performance during stair-ambulation.
|Subjects:||B - Subjects allied to medicine > B121 - Clinical physiology|
Engineering > Electrical engineering
|Schools:||Faculty of Science and Technology > School of Psychology|
|Deposited By:||Oliver Kannape|
|Deposited On:||17 Apr 2015 11:50|
|Last Modified:||20 Oct 2016 15:43|
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