This paper presents experimental results of a myoelectric controller designed for reciprocal stair ascent using transfemoral prosthesis with an actively powered knee joint. The control architecture is derived from able-bodied gait data and estimates torque linear two-state (stance/swing) impedance form that includes proportional combined state-determined impedance. experimentally implemented interface affords the amputee subject direct surface electromyogram (EMG) measurements muscles in...

This paper describes a single degree-of-freedom active-knee transfemoral prosthesis to be used as test bed for the development of architectures myoelectric control. The an is motivated by inability passive commercial prostheses provide joint power required at knee many activities daily living such reciprocal stair ascent, which requires outputs up 4 W/kg. Study control based on surface electromyogram (EMG) measurements muscles in residual limb desire restore direct volitional using...

This paper presents the design of a gas-actuated anthropomorphic arm prosthesis with 21 degrees freedom and nine independent actuators. The utilizes monopropellant hydrogen peroxide as gas generator to power pneumatic type Of actuators, one provides direct- drive actuation elbow, three provide direct-drive for wrist, remaining five actuate an underactuated 17 degree hand. describes prosthesis, including small-scale high-performance servovalves, which enable implementation concept in...

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

This paper presents the development and experimental evaluation of a volitional control architecture for powered-knee transfemoral prosthesis that affords amputee user with direct knee impedance using measured electromyogram (EMG) potentials antagonist muscles in residual limb. The methodology incorporates calibration procedure performed each donning characterizes co-contraction levels as performs phantom-knee flexor extensor contractions. performance envelope EMG is then automatically...

This paper presents a two-channel architecture and design approach that enables simultaneous increase in the transparency stability robustness of bilateral teleoperation system, additionally provides high degree to uncertainty operator environment dynamics. The former is provided by use loop-shaping filter incorporated on master-to-slave motion command, latter local feedback loops around both master slave manipulators. proposed are illustrated single-degree-of-freedom example with without...

This paper presents and experimentally demonstrates a control methodology that provides transparency stability robustness in bilateral telemanipulator systems. The approach is based upon previously published method structures the human-manipulators-environment system manner enables application of frequency-domain loop-shaping methods. reformulates human-manipulator interaction described work, on single degree-of-freedom telemanipulation system. Experimental measurements indicate significant...

This paper describes the design and energetic characterization of an actuator designed to provide enhanced system energy power density for self-powered robots. The proposed is similar a typical compressible gas fluid-powered actuator, but pressurizes respective cylinder chambers via pair proportional injector valves, which control flow liquid monopropellant through catalyst packs into sides double-acting cylinder. injection valves structure force controller actuator. Finally, shows...

This paper presents the analytical model of a DC-motor actuated active-knee transfemoral prosthesis operating within mechanically dissipative but electrically regenerative region knee actuator's performance space. A switching-based control scheme is developed that enables damping limb's operation. approach allows limb to realize bounded mechanical dissipation using strictly passive means, while at same time generating electrical power augment requirements in active modes Experimental...

This paper describes a direct-injection configuration of monopropellant-powered actuator that is intended to provide high-energy-density actuation for self-powered position- or force-controlled human-scale robot. The proposed pressurized by pair solenoid injection valves (each which control the flow monopropellant through catalyst pack and directly into respective side pneumatic-type cylinder), depressurized via three-way hot-gas proportional exhaust valve. A controller described coordinates...

This paper presents the development of a torque-based myoelectric impedance controller for an active-knee transfemoral prosthesis. An anthropomorphically inspired agonist-antagonist studied in elbow prosthesis is adapted knee joint. To parameterize controller, regression analysis was applied to recently updated lower-extremity neuromuscular simulation model that provides estimates torque as function angle and neural activation. Initial results using constant moment arm suggest physically...

This paper addresses the modeling and control of a compliant micromanipulator for use in such fields as microsurgery, telesurgery, microassembly. The unique flexure-based manipulator utilizes revolute flexure joints achieving well-behaved kinematic characteristics, without backlash stick-slip phenomena that would otherwise impede precision control. A mathematical model is formulated, controller positioning derived. resulting are unlike typical models controllers since this actually...

This paper describes the modeling and control of a proportional-injector direct-injection monopropellant-powered actuator for use in power-autonomous human-scale mobile robots. The development proportional (as opposed to solenoid) injection valves enables continuous unified input/output description device, therefore implementation sliding-mode-type controller force proposed actuator, which provides stability guarantees characteristic sliding-mode approach. Specifically, three-input,...

This paper presents a method for providing stability and robust transparency in bilateral teleoperator loops that include time delay the communication channel. Specifically, proposed approach incorporates an adaptive Smith predictor within frequency domain loop shaping addresses both of loop. Experimental results are presented demonstrate effectiveness approach.

Safety and prevention of injuries should always be considered in a firefighting environment due to the hazardous conditions experienced on fireground. These environmental lead an increased risk contracting job-related illnesses. This review article focuses evaluating from statistical perspective potential solutions found literature how they decrease likelihood impact occupational injuries. Investigating, identifying, prioritizing most common activities leading injury, nature body parts...

Design projects, particularly those related to assistive technology, offer unparalleled educational opportunities for undergraduate students synthesize engineering knowledge with a clinically driven need produce product that can improve quality of life. Such projects are most effective when engineering, clinical, and business perspectives considered throughout. However, the logistics successfully implementing such interdisciplinary be challenging. This paper presents an auto-ethnography 12...

This paper presents the design of an anthropomorphic 21 degree-of-freedom, 9 degree-of-actuation arm prosthesis for use by transhumeral amputees. The leverages power density pneumatic actuation with energy liquid propellants to obtain a self-powered dexterous in which all requisite power, actuation, and sensing is packaged within volumetric envelope normal human arm. Specifically, utilizes monopropellant as gas generator nine pneumatic-type actuators that drive elbow, three wrist...

Describes a design technique for simultaneously increasing the transparency bandwidth and stability robustness of two-channel position-force bilateral teleoperation architecture. Specifically, performance enhancements are obtained by introducing dynamic compensator into system to shape frequency-domain properties human-teleoperator-environment loop. This is demonstrated in single degree-of-freedom numerical example.

With the incidence of disease related lower limb amputation on rise in United States, a decrease requisite time for rehabilitation is needed to ensure better prognosis patients. It proposed that incorporation haptic feedback training aid would do just this. This research has experimentally investigated usage two systems conveying information pertinent completing single degree freedom non-weight bearing motion tracking task an otherwise perceptually devoid environment. concluded sustained...

This paper presents the development and preliminary validation of a control interface for transfemoral prosthesis that enables EMG-based powered knee during stair ascent. The approach uses results from non-amputee gait studies ascent in design architecture EMG modulation torque manner biomechanically similar to exhibited by subjects. myoelectric controller is formulated with finite-state linear impedance model stance swing. phase modulated surface signals co-activated antagonist residuum...

This paper describes the design of a 21 degree-of-freedom, nine degree-of-actuation, gas-actuated arm prosthesis for transhumeral amputees. The incorporates direct-drive elbow and three degree-of-freedom wrist, in addition to 17 underactuated hand effected by five actuators. anthropomorphic device includes full position force sensing capability each actuated degree freedom integrates monopropellant-powered gas generator provide on-board power untethered operation. Design considerations...

Millivolt level signals generated in residual muscles can be used to control sophisticated upper limb prosthetics. The low voltages known as surface-electromyogram (sEMG) have seldom been applied lower limbs due moisture, large pressure, and shear forces which induced anomalies, particular triboelectric interference. An electronic module, a multi-sensor unit or MSU incorporates multiplicity of sensors promises overcome the problems with sEMG limbs. By incorporating from what is physically...

This paper builds on prior investigations of the electromyogram (EMG) control a single degree-of-freedom (DOF) transfemoral prosthetic limb, but augmented with mechanical haptic feedback limb state. Preliminary studies were conducted where quasi-static and vibratory cutaneous was provided to subjects performing nonweight-bearing motion tracking tasks EMG controlled prosthesis. The results these showed that exhibited improved performance when following pseudo-random step commands under static...

This paper presents an architecture and control methodology for obtaining transparency stability robustness in a multivariable bilateral teleoperator system. The work presented here extends previously published single-input, single-output approach to accommodate systems. extension entails the use of impedance techniques, which are introduced render linear otherwise nonlinear dynamics master slave manipulators, addition diagonalization loop shaping technique, used tractable compensator...