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  1. Article ; Online: A new approach to a powered knee prosthesis: Layering powered assistance onto strictly passive prosthesis behavior.

    Culver, Steve C / Vailati, Léo G / Morgenroth, David C / Goldfarb, Michael

    Wearable technologies

    2023  Volume 4, Page(s) e21

    Abstract: This article describes a novel approach to the control of a powered knee prosthesis where the control system provides passive behavior for most activities and then provides powered assistance only for those activities that require them. The control ... ...

    Abstract This article describes a novel approach to the control of a powered knee prosthesis where the control system provides passive behavior for most activities and then provides powered assistance only for those activities that require them. The control approach presented here is based on the categorization of knee joint function during activities into four behaviors: resistive stance behavior, active stance behavior, ballistic swing, and non-ballistic swing. The approach is further premised on the assumption that healthy non-perturbed swing-phase is characterized by a ballistic swing motion, and therefore, a replacement of that function should be similarly ballistic. The control system utilizes a six-state finite-state machine, where each state provides different constitutive behaviors (concomitant with the four aforementioned knee behaviors) which are appropriate for a range of activities. Transitions between states and torque control within states is controlled by user motion, such that the control system provides, to the extent possible, knee torque behavior as a reaction to user motion, including for powered behaviors. The control system is demonstrated on a novel device that provides a sufficiently low impedance to enable a strictly passive ballistic swing-phase, while also providing sufficiently high torque to offer powered stance-phase knee-extension during activities such as step-over stair ascent. Experiments employing the knee and control system on an individual with transfemoral amputation are presented that compare the functionality of the power-supplemented nominally passive system with that of a conventional passive microprocessor-controlled knee prosthesis.
    Language English
    Publishing date 2023-08-18
    Publishing country England
    Document type Journal Article
    ISSN 2631-7176
    ISSN (online) 2631-7176
    DOI 10.1017/wtc.2023.14
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  2. Article ; Online: A Primarily-Passive Knee Prosthesis with Powered Stance and Swing Assistance.

    Culver, Steve C / Vailati, Leo G / Goldfarb, Michael

    IEEE ... International Conference on Rehabilitation Robotics : [proceedings

    2022  Volume 2022, Page(s) 1–6

    Abstract: This paper describes a knee prosthesis that provides primarily-passive behavior akin to a state-of-the-art modulated passive microprocessor-controlled knee prosthesis (MPK), but also offers powered stance and swing assistance, which are layered on top of ...

    Abstract This paper describes a knee prosthesis that provides primarily-passive behavior akin to a state-of-the-art modulated passive microprocessor-controlled knee prosthesis (MPK), but also offers powered stance and swing assistance, which are layered on top of the passive functionality. The combination of both passive and powered behaviors is enabled by a unique electronically-selectable two-speed transmission, which enables the combination of very low output impedance and high resistive torques necessary for passive functionality, while also enabling the generative torque-speed characteristics suitable for stance and swing phase assistance. A control system is described that consolidates behaviors appropriate for a wide range of activities of daily living (ADLs) into six states, with each state providing adaptive torque behaviors appropriate for different phases of gait, whether powered or passive. Experimental results on an individual with transfemoral amputation suggest that the prosthesis and controller provide similar or improved passive behaviors relative to a commercially-available MPK, in addition to providing powered functionality commensurate with a powered prosthesis.
    MeSH term(s) Activities of Daily Living ; Amputees ; Artificial Limbs ; Biomechanical Phenomena ; Gait ; Humans ; Knee Prosthesis ; Prosthesis Design ; Walking
    Language English
    Publishing date 2022-09-29
    Publishing country United States
    Document type Journal Article
    ISSN 1945-7901
    ISSN (online) 1945-7901
    DOI 10.1109/ICORR55369.2022.9896545
    Database MEDical Literature Analysis and Retrieval System OnLINE

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  3. Article ; Online: On the Basis for Stumble Recovery Strategy Selection in Healthy Adults.

    Eveld, Maura E / King, Shane T / Vailati, Leo G / Zelik, Karl E / Goldfarb, Michael

    Journal of biomechanical engineering

    2021  Volume 143, Issue 7

    Abstract: Healthy adults employ one of three primary strategies to recover from stumble perturbations-elevating, lowering, or delayed lowering. The basis upon which each recovery strategy is selected is not known. Though strategy selection is often associated with ...

    Abstract Healthy adults employ one of three primary strategies to recover from stumble perturbations-elevating, lowering, or delayed lowering. The basis upon which each recovery strategy is selected is not known. Though strategy selection is often associated with swing percentage at which the perturbation occurs, swing percentage does not fully predict strategy selection; it is not a physical quantity; and it is not strictly a real-time measurement. The objective of this work is to better describe the basis of strategy selection in healthy individuals during stumble events, and in particular to identify a set of real-time measurable, physical quantities that better predict stumble recovery strategy selection, relative to swing percentage. To do this, data from a prior seven-participant stumble experiment were reanalyzed. A set of biomechanical measurements at/after the perturbation were taken and considered in a two-stage classification structure to find the set of measurements (i.e., features) that best explained the strategy selection process. For Stage 1 (decision between initially elevating or lowering of the leg), the proposed model correctly predicted 99.0% of the strategies used, compared to 93.6% with swing percentage. For Stage 2 (decision between elevating or delayed lowering of the leg), the model correctly predicted 94.0% of the strategies used, compared to 85.6% with swing percentage. This model uses dynamic factors of the human body to predict strategy with substantially improved accuracy relative to swing percentage, giving potential insight into human physiology as well as potentially better informing the design of fall-prevention interventions.
    MeSH term(s) Gait
    Language English
    Publishing date 2021-02-16
    Publishing country United States
    Document type Journal Article ; Research Support, N.I.H., Extramural ; Research Support, U.S. Gov't, Non-P.H.S.
    ZDB-ID 243094-0
    ISSN 1528-8951 ; 0148-0731
    ISSN (online) 1528-8951
    ISSN 0148-0731
    DOI 10.1115/1.4050171
    Database MEDical Literature Analysis and Retrieval System OnLINE

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