Improving Sit/Stand Loading Symmetry and Timing Through Unified Variable Impedance Control of a Powered Knee-Ankle Prosthesis

Article Engineering, Biomedical

Effect of Increasing Assistance From a Powered Prosthesis on Weight-Bearing Symmetry, Effort, and Speed During Stand-Up in Individuals With Above-Knee Amputation

Grace R. Hunt et al.

Summary: Using a powered prosthesis can improve symmetry, speed, and effort for above-knee amputees, potentially enhancing quality of life.

IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING (2023)

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Article Robotics

Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Adaptive Speed and Incline Walking

T. Kevin Best et al.

Summary: Most previous walking controllers for prostheses require manual tuning of user-specific parameters and are only suitable for specific task conditions. This article introduces a data-driven, phase-based controller that enables biomimetic locomotion in variable-task walking.

IEEE TRANSACTIONS ON ROBOTICS (2023)

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Article Engineering, Biomedical

Can a powered knee-ankle prosthesis improve weight-bearing symmetry during stand-to-sit transitions in individuals with above-knee amputations?

Grace R. Hunt et al.

Summary: In this study, it was found that a powered knee-ankle prosthesis significantly improved weight-bearing symmetry during sit-down compared to passive prostheses for above-knee amputees. However, there was no corresponding decrease in muscle effort in the intact quadricep muscle. These results indicate the potential of powered prosthetic devices to improve balance during sit-down and provide insight for future development of powered prosthetics.

JOURNAL OF NEUROENGINEERING AND REHABILITATION (2023)

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Article Health Care Sciences & Services

Smartphone videos of the sit-to-stand test predict osteoarthritis and health outcomes in a nationwide study

Melissa A. Boswell et al.

Summary: A self-guided quantitative motion analysis using a smartphone has been introduced to assess physical function decline caused by aging or disease, which currently relies on expensive laboratory equipment. In a study involving 405 participants from 35 US states, videos of the participants performing the five-repetition sit-to-stand test in their homes were recorded. The quantitative movement parameters extracted from the smartphone videos were found to be related to osteoarthritis diagnosis, physical and mental health, body mass index, age, and ethnicity and race. These findings highlight the potential of at-home movement analysis to provide objective and cost-effective digital outcome metrics for nationwide studies.

NPJ DIGITAL MEDICINE (2023)

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Article Engineering, Biomedical

Virtual constraint control of Knee-Ankle prosthesis using an improved estimate of the thigh phase-variable

Awais Naeem et al.

Summary: This paper presents a virtual constraint scheme based on discrete Fourier transform (DFT) for estimating knee/ankle trajectories using an improved thigh phase-variable trajectory. By processing and optimizing the contour of the thigh angle and its integral, aberrations in the phase-variable trajectory are minimized, leading to more accurate trajectory estimation. Simulation results validate the effectiveness of the proposed scheme.

BIOMEDICAL SIGNAL PROCESSING AND CONTROL (2022)

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Proceedings Paper Automation & Control Systems

Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning

Cara Gonzalez Welker et al.

Summary: This study presents a data-driven controller for powered prostheses that allows sitting, standing, and walking with minimal tuning. Experimental results demonstrate promising clinical outcomes and the ability to perform various daily activities.

2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) (2022)

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Proceedings Paper Automation & Control Systems

Toward Phase-Variable Control of Sit-to-Stand Motion with a Powered Knee-Ankle Prosthesis

Daphna Raz et al.

Summary: This paper introduces a new model and phase-variable controller for sit-to-stand motion in above-knee amputees, showing that the controller performs well under a range of conditions and biological parameters, generating kinematic trajectories comparable to non-amputees. The torques commanded by the controller are consistent with normative human sit-to-stand motion, and rise times measured in simulation and experiments are similar. Comparison with a baseline controller demonstrates the advantages of the phase-based design over a set-point based design.

5TH IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (IEEE CCTA 2021) (2021)

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Proceedings Paper Automation & Control Systems

Phase-Variable Control of a Powered Knee-Ankle Prosthesis over Continuously Varying Speeds and Inclines

T. Kevin Best et al.

Summary: The study explores an alternative control framework for lower-limb robotic prostheses that allows walking over a range of speeds and inclines with a limited number of tunable parameters. By implementing a continuously varying kinematic controller on a custom powered knee-ankle prosthesis, the researchers demonstrate the ability to replicate kinematic trends seen in able-bodied gait as speed and incline vary, validating the accuracy of the speed and incline estimation algorithms.

2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) (2021)

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Article Engineering, Biomedical

Stand-Up, Squat, Lunge, and Walk With a Robotic Knee and Ankle Prosthesis Under Shared Neural Control

Grace Hunt et al.

Summary: A shared neural control approach combining neural signals from the user's residual limb with robot control improves functional mobility in individuals with above-knee amputation, allowing them to perform various activities and seamlessly transition between them. Compared to conventional passive prostheses, the shared neural controller significantly reduces muscle effort and increases the body weight lifted by the prosthesis side, leading to better loading symmetry.

IEEE OPEN JOURNAL OF ENGINEERING IN MEDICINE AND BIOLOGY (2021)

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Article Robotics

Design and Validation of a Powered Knee-Ankle Prosthesis With High-Torque, Low-Impedance Actuators

Toby Elery et al.

IEEE TRANSACTIONS ON ROBOTICS (2020)

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Review Mechanics

Toward the Development of Knee Prostheses: Review of Current Active Devices

Rafael R. Torrealba et al.

APPLIED MECHANICS REVIEWS (2019)

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Article Engineering, Biomedical

Model-based control for exoskeletons with series elastic actuators evaluated on sit-to-stand movements

Jonas Vantilt et al.

JOURNAL OF NEUROENGINEERING AND REHABILITATION (2019)

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Article Computer Science, Information Systems

A Phase Variable Approach for Improved Rhythmic and Non-Rhythmic Control of a Powered Knee-Ankle Prosthesis

Siavash Rezazadeh et al.

IEEE ACCESS (2019)

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Article Robotics

Continuous-Phase Control of a Powered Knee-Ankle Prosthesis: Amputee Experiments Across Speeds and Inclines

David Quintero et al.

IEEE TRANSACTIONS ON ROBOTICS (2018)

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Review Medicine, General & Internal

Prosthesis satisfaction in lower limb amputees A systematic review of associated factors and questionnaires

Erwin C. Baars et al.

MEDICINE (2018)

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Article Engineering, Biomedical

A Robust Parameterization of Human Gait Patterns Across Phase-Shifting Perturbations

Dario J. Villarreal et al.

IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING (2017)

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Article Rehabilitation

Improved Weight-Bearing Symmetry for Transfemoral Amputees During Standing Up and Sitting Down With a Powered Knee-Ankle Prosthesis

Ann M. Simon et al.

ARCHIVES OF PHYSICAL MEDICINE AND REHABILITATION (2016)

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Article Engineering, Biomedical

Detection of and Compensation for EMG Disturbances for Powered Lower Limb Prosthesis Control

John A. Spanias et al.

IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING (2016)

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Article Engineering, Biomedical

The influence of push-off timing in a robotic ankle-foot prosthesis on the energetics and mechanics of walking

Philippe Malcolm et al.

JOURNAL OF NEUROENGINEERING AND REHABILITATION (2015)

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Article Multidisciplinary Sciences

Investigation of Timing to Switch Control Mode in Powered Knee Prostheses during Task Transitions

Fan Zhang et al.

PLOS ONE (2015)

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Article Multidisciplinary Sciences

Configuring a Powered Knee and Ankle Prosthesis for Transfemoral Amputees within Five Specific Ambulation Modes

Ann M. Simon et al.

PLOS ONE (2014)

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Article Neurosciences

Comparison of the Power Knee and C-Leg during step-up and sit-to-stand tasks

Erik. J. Wolf et al.

GAIT & POSTURE (2013)

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Article Engineering, Biomedical

Gait asymmetry of transfemoral amputees using mechanical and microprocessor-controlled prosthetic knees

Kenton R. Kaufman et al.

CLINICAL BIOMECHANICS (2012)

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Article Neurosciences

Functional gait asymmetry of unilateral transfemoral amputees

Margrit Schaarschmidt et al.

HUMAN MOVEMENT SCIENCE (2012)

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Article Neurosciences

Kinetic asymmetry in transfemoral amputees while performing sit to stand and stand to sit movements

M. Jason Highsmith et al.

GAIT & POSTURE (2011)

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Article Engineering, Industrial

Frequency of the sit to stand task: An observational study of free-living adults

Philippa M. Dall et al.

APPLIED ERGONOMICS (2010)

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Article Rehabilitation

Weight-Bearing Asymmetry in Relation to Measures of Impairment and Functional Mobility for People With Knee Osteoarthritis

Cory L. Christiansen et al.

ARCHIVES OF PHYSICAL MEDICINE AND REHABILITATION (2010)

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Article Engineering, Biomedical

Multiclass Real-Time Intent Recognition of a Powered Lower Limb Prosthesis

Huseyin Atakan Varol et al.

IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING (2010)

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Article Rehabilitation

Estimating the prevalence of limb loss in the United States: 2005 to 2050

Kathryn Ziegler-Graham et al.

ARCHIVES OF PHYSICAL MEDICINE AND REHABILITATION (2008)

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Review Rehabilitation

Review of secondary physical conditions associated with lower-limb amputation and long-term prosthesis use

Robert Gailey et al.

JOURNAL OF REHABILITATION RESEARCH AND DEVELOPMENT (2008)

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Article Rehabilitation

How humans walk: Bout duration, steps per bout, and rest duration

Michael S. Orendurff et al.

JOURNAL OF REHABILITATION RESEARCH AND DEVELOPMENT (2008)

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Article Orthopedics

Clinical measurement of sit-to-stand performance in people with balance disorders: Validity of data for the five-times-sit-to-stand test

SL Whitney et al.

PHYSICAL THERAPY (2005)

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Article Orthopedics

Transition from sitting to standing after trans-femoral amputation

H Burger et al.

PROSTHETICS AND ORTHOTICS INTERNATIONAL (2005)

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Improving Sit/Stand Loading Symmetry and Timing Through Unified Variable Impedance Control of a Powered Knee-Ankle Prosthesis

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