Human locomotion involves continuously variable activities including walking, running, and stair climbing over a range of speeds inclinations as well sit-stand, walk-run, walk-stairs transitions. Understanding the kinematics kinetics lower limbs during varying is fundamental to developing robotic prostheses exoskeletons that assist in community ambulation. However, available datasets on human neglect transitions between and/or continuous variations speed inclination these activities. This...

Although there has been recent progress in control of multi-joint prosthetic legs for rhythmic tasks such as walking, these systems non-rhythmic motions and general real-world maneuvers is still an open problem. In this article, we develop a new controller that capable both (constant-speed) transitions between speeds and/or tasks, some common volitional leg motions. We introduce piecewise holonomic phase variable, which, through finite state machine, forms the basis our controller. The...

Transfemoral amputee gait often exhibits compensations due to the lack of ankle push-off power and control over swing foot position using passive prostheses. Powered prostheses can restore this functionality, but their effects on compensatory behaviors, specifically at residual hip, are not well understood. This paper investigates hip through walking experiments with three transfemoral amputees a low-impedance powered knee-ankle prosthesis compared day-to-day prosthesis. The used impedance...

Individuality in clinical gait analysis is often quantified by an individual's kinematic deviation from the norm, but it unclear how these deviations generalize across different walking speeds and ground slopes. Understanding individuality tasks has important implications tuning of prosthetic legs, where clinicians have limited time resources to personalize motion leg therapeutically enhance wearer's gait. This study seeks determine efficient way predictively model kinematics over a...

This paper presents a potential solution to the challenge of configuring powered knee-ankle prostheses in clinical setting. Typically, use impedance-based control schemes that contain several independent controllers which correspond consecutive periods along gait cycle. strategy has numerous parameters and switching rules are generally tuned by researchers or technicians not certified prosthetist. We propose an intuitive clinician interface (CCI) clinicians tune prosthesis based on virtual...

<p>GOAL: Accounting for gait individuality is important to positive outcomes with wearable robots, but tuning multi-activity models time-consuming and not viable in a clinic. Generalizations can be made predict unobserved conditions. METHODS: Kinematic individuality—how one person’s joint angles differ from the group—is quantified every subject, joint, ambulation mode (walking, running, stair ascent, descent), intramodal task (speed, incline) an open-source able-bodied dataset. Four...

Goal: Accounting for gait individuality is important to positive outcomes with wearable robots, but manually tuning multi-activity models time-consuming and not viable in a clinic. Generalizations can possibly be made predict unobserved conditions. Methods: Kinematic individuality-how one person's joint angles differ from the group-is quantified every subject, joint, ambulation mode (walking, running, stair ascent, descent), intramodal task (speed, incline) an open-access dataset 10...

Objective: Configuring a prosthetic leg is an integral part of the fitting process, but personalization multi-modal powered knee-ankle prosthesis often too complex to realize in clinical environment. This paper develops both technical means individualize hybrid kinematic-impedance controller for variable-incline walking and sit-stand transitions, intuitive Clinical Tuning Interface (CTI) that allows prosthetists directly modify behavior. Methods: Utilizing established method predicting...

Abstract This paper presents the novel design of a multi-degree-of-freedom joint (M-DOF) for an ankle-foot orthosis (AFO) that aims to improve upon commercially available double action (DAJ). The M-DOF is designed maintain functionality DAJ, while increasing dorsiflexion stiffness and introducing inversion/eversion. increase in range motion produce greater engagement from lower limb muscles during gait. was experimentally validated with one able-bodied stroke subject. Across walking speeds,...

<p>GOAL: Accounting for gait individuality is important to positive outcomes with wearable robots, but tuning multi-activity models time-consuming and not viable in a clinic. Generalizations can be made predict unobserved conditions. METHODS: Kinematic individuality—how one person’s joint angles differ from the group—is quantified every subject, joint, ambulation mode (walking, running, stair ascent, descent), intramodal task (speed, incline) an open-source able-bodied dataset. Four...

Although there has been recent progress in control of multi-joint prosthetic legs for rhythmic tasks such as walking, these systems non-rhythmic motions and general real-world maneuvers is still an open problem. In this article, we develop a new controller that capable both (constant-speed) transitions between speeds and/or tasks, some common volitional leg motions. We introduce piecewise holonomic phase variable, which, through finite state machine, forms the basis our controller. The...

<p>GOAL: Accounting for gait individuality is important to positive outcomes with wearable robots, but tuning multi-activity models time-consuming and not viable in a clinic. Generalizations can be made predict unobserved conditions. METHODS: Kinematic individuality—how one person’s joint angles differ from the group—is quantified every subject, joint, ambulation mode (walking, running, stair ascent, descent), intramodal task (speed, incline) an open-source able-bodied dataset. Four...