Intuitive Clinician Control Interface for a Powered Knee-Ankle Prosthesis: A Case Study
This paper presents a potential solution to the challenge of configuring powered knee-ankle prostheses in a clinical setting. Typically, powered prostheses use impedance-based control schemes that contain several independent controllers which correspond to consecutive periods along the gait cycle. T...
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| Format: | Article |
| Language: | English |
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IEEE
2018-01-01
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| Series: | IEEE Journal of Translational Engineering in Health and Medicine |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8543610/ |
| _version_ | 1818619579343044608 |
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| author | David Quintero Emma Reznick Daniel J. Lambert Siavash Rezazadeh Leslie Gray Robert D. Gregg |
| author_facet | David Quintero Emma Reznick Daniel J. Lambert Siavash Rezazadeh Leslie Gray Robert D. Gregg |
| author_sort | David Quintero |
| collection | DOAJ |
| description | This paper presents a potential solution to the challenge of configuring powered knee-ankle prostheses in a clinical setting. Typically, powered prostheses use impedance-based control schemes that contain several independent controllers which correspond to consecutive periods along the gait cycle. This control strategy has numerous control parameters and switching rules that are generally tuned by researchers or technicians and not by a certified prosthetist. We propose an intuitive clinician control interface (CCI) in which clinicians tune a powered knee-ankle prosthesis based on a virtual constraint control scheme, which tracks desired periodic joint trajectories based on a continuous measurement of the phase (or progression) of gait. The interface derives virtual constraints from clinician-designed joint kinematic trajectories. An experiment was conducted in which a certified prosthetist used the control interface to configure a powered knee-ankle prosthesis for a transfemoral amputee subject during level-ground walking trials. While it usually takes engineers hours of tuning individual parameters by trial and error, the CCI allowed the clinician to tune the powered prosthesis controller in under 10 min. This allowed the clinician to improve several amputee gait outcome metrics, such as gait symmetry. These results suggest that the CCI can improve the clinical viability of emerging powered knee-ankle prostheses. |
| first_indexed | 2024-12-16T17:39:44Z |
| format | Article |
| id | doaj.art-eccd54e59d724e50a8fdea8713c4d766 |
| institution | Directory Open Access Journal |
| issn | 2168-2372 |
| language | English |
| last_indexed | 2024-12-16T17:39:44Z |
| publishDate | 2018-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Journal of Translational Engineering in Health and Medicine |
| spelling | doaj.art-eccd54e59d724e50a8fdea8713c4d7662022-12-21T22:22:39ZengIEEEIEEE Journal of Translational Engineering in Health and Medicine2168-23722018-01-0161910.1109/JTEHM.2018.28801998543610Intuitive Clinician Control Interface for a Powered Knee-Ankle Prosthesis: A Case StudyDavid Quintero0https://orcid.org/0000-0001-5963-6730Emma Reznick1Daniel J. Lambert2Siavash Rezazadeh3Leslie Gray4https://orcid.org/0000-0003-2990-0240Robert D. Gregg5https://orcid.org/0000-0002-0729-2857Department of Bioengineering, The University of Texas at Dallas, Richardson, TX, USADepartment of Bioengineering, The University of Texas at Dallas, Richardson, TX, USADepartment of Electrical Engineering, The University of Texas at Dallas, Richardson, TX, USADepartment of Bioengineering, The University of Texas at Dallas, Richardson, TX, USADepartment of Health Care Sciences, The University of Texas Southwestern Medical Center, Dallas, TX, USADepartment of Bioengineering, The University of Texas at Dallas, Richardson, TX, USAThis paper presents a potential solution to the challenge of configuring powered knee-ankle prostheses in a clinical setting. Typically, powered prostheses use impedance-based control schemes that contain several independent controllers which correspond to consecutive periods along the gait cycle. This control strategy has numerous control parameters and switching rules that are generally tuned by researchers or technicians and not by a certified prosthetist. We propose an intuitive clinician control interface (CCI) in which clinicians tune a powered knee-ankle prosthesis based on a virtual constraint control scheme, which tracks desired periodic joint trajectories based on a continuous measurement of the phase (or progression) of gait. The interface derives virtual constraints from clinician-designed joint kinematic trajectories. An experiment was conducted in which a certified prosthetist used the control interface to configure a powered knee-ankle prosthesis for a transfemoral amputee subject during level-ground walking trials. While it usually takes engineers hours of tuning individual parameters by trial and error, the CCI allowed the clinician to tune the powered prosthesis controller in under 10 min. This allowed the clinician to improve several amputee gait outcome metrics, such as gait symmetry. These results suggest that the CCI can improve the clinical viability of emerging powered knee-ankle prostheses.https://ieeexplore.ieee.org/document/8543610/Prostheticsrobot controllegged locomotionuser interfaces |
| spellingShingle | David Quintero Emma Reznick Daniel J. Lambert Siavash Rezazadeh Leslie Gray Robert D. Gregg Intuitive Clinician Control Interface for a Powered Knee-Ankle Prosthesis: A Case Study IEEE Journal of Translational Engineering in Health and Medicine Prosthetics robot control legged locomotion user interfaces |
| title | Intuitive Clinician Control Interface for a Powered Knee-Ankle Prosthesis: A Case Study |
| title_full | Intuitive Clinician Control Interface for a Powered Knee-Ankle Prosthesis: A Case Study |
| title_fullStr | Intuitive Clinician Control Interface for a Powered Knee-Ankle Prosthesis: A Case Study |
| title_full_unstemmed | Intuitive Clinician Control Interface for a Powered Knee-Ankle Prosthesis: A Case Study |
| title_short | Intuitive Clinician Control Interface for a Powered Knee-Ankle Prosthesis: A Case Study |
| title_sort | intuitive clinician control interface for a powered knee ankle prosthesis a case study |
| topic | Prosthetics robot control legged locomotion user interfaces |
| url | https://ieeexplore.ieee.org/document/8543610/ |
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