Towards controlling transtibial prostheses using a single degree of freedom inertial sensor system

Aniket Mazumder*, Edsko E. G. Hekman, Raffaella Carloni

*Bijbehorende auteur voor dit werk

OnderzoeksoutputAcademicpeer review

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Control strategies for lower limb prostheses have made multiple significant advancements over
the years. In this work, we investigate the scope and capabilities of a controller for ankle-foot prostheses
that relies only on a one-degree-of-freedom inertial sensor, supplemented with a control algorithm that can
perform a real time update of actuation parameters using gait information available from past gait cycles.
The updated actuation parameters are applied to the subsequent gait cycle and the cycle repeats itself. The
idea behind this controller is to allow a user to have infinite possible variations in gait speeds (within the
allowable limits of actuation) while keeping the required sensory inputs to a minimum. As a consequence
of this controller design, the user is not forced to choose discrete speeds of walking (slow, medium, fast)
and is capable of freely varying his gait speeds on each step, while utilizing only a single-degree-of-freedom
sensor. We implement the controller on an actuated transtibial prosthesis prototype based on a series-elastic
spring configuration, and conduct tests for level ground walking at a self-selected walking speed, to explore
the achievable range of response pertaining to daily living tasks. The pilot tests on a healthy participant,
conducting level ground walking with turns and remotely controlling the prosthesis, suggest that it is possible
to control a transtibial prosthesis using a simple uni-sensor framework, with a maximum angular deviation
of 5◦
, and maximum deviation in angular velocity of 20◦
/s compared to that of healthy humans.
Originele taal-2English
Artikelnummer24803
Aantal pagina's10
TijdschriftIEEE Access
Volume12
DOI's
StatusPublished - 8-feb.-2024

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