The paper describes the design and control of a transfemoral prosthesis with powered knee ankle joints. initial prototype is pneumatically actuated powered-tethered device, which intended to serve as laboratory test bed for subsequent self-powered version. described, including its kinematic optimization three-axis socket load cell that measures forces moments interaction between prosthesis. A gait controller proposed based on use passive impedance functions coordinates motion user during...

This paper describes a control architecture and intent recognition approach for the real-time supervisory of powered lower limb prosthesis. The infers user to stand, sit, or walk, by recognizing patterns in prosthesis sensor data real time, without need instrumentation sound-side leg. Specifically, recognizer utilizes time-based features extracted from frames signals, which are subsequently reduced dimensionality (for computational efficiency). These initially used train models, classify as...

This paper presents a self-contained powered knee and ankle prosthesis, intended to enhance the mobility of transfemoral amputees. A finite-state based impedance control approach, previously developed by authors, is used for prosthesis during walking standing. Experiments on an amputee subject level treadmill overground are described. Knee joint angle, torque, power data taken experiments at various speeds demonstrate ability provide functional gait that representative normal biomechanics....

This paper extends a previously developed level- ground walking control methodology to enable an above knee amputee walk up slopes using powered and ankle prosthesis. Experimental results corresponding on level two different slope angles (5 (°) 10 (°)) with the prosthesis method are compared under same conditions passive The data indicate that upslope controller is able reproduce several kinematic characteristics of healthy does not (such as flexion after heel strike plantarflexion during...

This paper presents an overview of the design and control a fully self-contained prosthesis, which is intended to improve mobility transfemoral amputees. A finite-state based impedance approach, previously developed by authors, used for prosthesis during walking standing. The was tested on unilateral amputee subject over-ground walking. Prosthesis sensor data (joint angles torques) acquired level ground experiments at self-selected cadence demonstrates ability device provide functional gait...

This paper presents an overview of the design and control electrically powered knee ankle prosthesis. The prosthesis incorporates two motor-driven ball screw units to drive joints. A spring in parallel with motor unit is employed decrease power consumption increase torque output for a given size. device's sensor package includes custom load cell measure sagittal socket interface moment above joint, sensorized foot ground reaction force at heel foot, commercial potentiometers cells joint...

Predictive simulation based on dynamic optimization using musculoskeletal models is a powerful approach for studying human gait. may be used variety of applications from designing assistive devices to testing theories motor control. However, the underlying cost function predictive unknown and generally assumed priori. Alternatively, can determined among family possible functions, representing an inverse optimal control problem that solved bilevel approach. In this study, nested evolutionary...

We used a survey to evaluate the perceptions of nurses and nursing students on robotic technology for care before after reviewing an educational video that included examples medical, care, healthcare service technology. found perception was innately favorable became more video. It is beneficial engineers incorporate nurses' frontline knowledge into design process from beginning, while functional changes can be implemented since comprise largest group professionals in hospitals are end users...

This paper describes the design and control of a transfemoral prosthesis with pneumatically powered knee ankle joints. The current version serves as laboratory testbed for purposes controller development testing, such is tethered both power control. A subsequent will be self-contained, on-board hot gas (monopropellant) actuation. presents prototype, which in essence two degree-of-freedom robot mechanically attached to user, an impedance-based approach that coordinates motion user level...

This paper describes the design and control of a transfemoral prosthesis with an electrically powered knee joint. details active-knee prototype presents impedance-based approach which to coordinate interaction between user during level walking. The methodology is implemented on prosthesis, experimental results video frame sequences are shown that demonstrate effectiveness for

Abstract Musculoskeletal modeling and marker‐based motion capture techniques are commonly used to quantify the motions of body segments, forces acting on them during human gait. However, when these applied analyze gait people with lower limb loss, clinically relevant interaction between residual prosthesis socket is typically overlooked. It known that there considerable loading at residuum‐socket interface, yet traditional analysis do not account for factors due inability place tracking...

This paper presents the development of a compact, modular rotary series elastic actuator (SEA) design that can be customized to meet requirements wide range applications. The concept incorporates flat brushless motors and planetary gearheads instead expensive harmonic drives torsional spring create lightweight, low-volume, easily reconfigurable, relatively high-performance SEA for use in active impedance controlled devices. key innovations include Hall effect sensor direct displacement...

This work extends the three level powered knee and ankle prosthesis control framework previously developed by authors adding sitting mode. A middle finite state based impedance controller is designed to accommodate sitting, sit-to-stand stand-to-sit transitions. Moreover, a high Gaussian Mixture Model intent recognizer distinguish between standing modes switch controllers accordingly. Experimental results with unilateral transfemoral amputee subject show that down up can be inferred from...

This paper describes a real-time gait mode intent recognition approach for the supervisory control of powered transfemoral prosthesis. The proposed infers user by recognizing patterns in prosthesis sensorpsilas signals real-time, eliminating need sound-side instrumentation and allowing fast switching. Simple time based features extracted from frames are reduced to lower dimensions. Gaussian Mixture Models trained using an experimental database classification. A voting scheme is applied as...

This paper presents a design of passive spine exoskeleton which implements “push–pull” external assistive strategy. The was designed for reducing the risk back injury. It applies pulling force on thoracic region and pushing lumbar during flexion/extension. inspired by previous simulation work, where results highly supported benefits push–pull strategy muscular efforts bending moment sagittal A physical prototype constructed to test human subjects. Three subjects were able repeat identical...

This paper describes an approach for the real-time detection of stumble use in intelligent lower limb prosthesis, using accelerometers mounted on and also algorithm that classifies response as either elevating or lowering type response. In order to validate proposed approach, investigators collected data 10 healthy subjects affixed a manner consistent with similar instrumentation transfemoral prosthesis. The algorithms were shown correctly identify stumbling classify all 19 stumbles 34...

In this paper, a novel haptic feedback scheme, used for accurately positioning 1DOF virtual wrist prosthesis through sensory substitution, is presented. The scheme employs three-node tactor array and discretely selectively modulates the stimulation frequency of each to relay 11 discrete stimuli user. Able-bodied participants were able move via surface electromyography based controller. evaluated without visual or audio relied solely on alone correctly position hand. was both normal...

Simulation of musculoskeletal systems using dynamic optimization is a powerful approach for studying the biomechanics human movements and can be applied to human-robot interactions. The simulation results augmented by robotic devices may used evaluate optimize device design controller. However, simulations are limited accuracy models which usually simplified computation efficiency. Typically, powered often modeled as massless, ideal torque actuators that without mass internal dynamics, have...

A new certificate program has been designed that augments the traditional undergraduate nursing education with a curriculum of innovation and entrepreneurship. The goal Integrated Innovation & Entrepreneurship Certificate in Nursing Program (INNOVATE) is to empower nurses collaboratively solve health care challenges become thought leaders products, technologies, processes, as well service delivery methods, particular focus on needs vulnerable populations. Toward this goal, INNOVATE built an...

An ankle–foot prosthesis designed to mimic the missing physiological limb generates a large sagittal moment during push off which must be transferred residual through socket connection. The is correlated with high internal pressures that are often source of discomfort for person amputation, limiting use. In this paper, concept active alignment developed. Active realigns affected toward center pressure (CoP) stance. During gait, configuration changes shorten arm between ground reaction force...