Volitional control of ankle plantar flexion in a powered transtibial prosthesis during stair-ambulation
Although great advances have been made in the design and control of lower extremity prostheses, walking on different terrains, such as ramps or stairs, and transitioning between these terrains remains a major challenge for the field. In order to generalize biomimetic behaviour of active lower-limb p...
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| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2017
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| Online Access: | http://hdl.handle.net/1721.1/109396 https://orcid.org/0000-0003-3169-1011 |
| _version_ | 1811097869500809216 |
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| author | Herr, Hugh M Kannape, Oliver Alan |
| author2 | Program in Media Arts and Sciences (Massachusetts Institute of Technology) |
| author_facet | Program in Media Arts and Sciences (Massachusetts Institute of Technology) Herr, Hugh M Kannape, Oliver Alan |
| author_sort | Herr, Hugh M |
| collection | MIT |
| description | Although great advances have been made in the design and control of lower extremity prostheses, walking on different terrains, such as ramps or stairs, and transitioning between these terrains remains a major challenge for the field. In order to generalize biomimetic behaviour of active lower-limb prostheses top-down volitional control is required but has until recently been deemed unfeasible due to the difficulties involved in acquiring an adequate electromyographic (EMG) signal. In this study, we hypothesize that a transtibial amputee can extend the functionality of a hybrid controller, designed for level ground walking, to stair ascent and descent by volitionally modulating powered plantar-flexion of the prosthesis. We here present data illustrating that the participant is able to reproduce ankle push-off behaviour of the intrinsic controller during stair ascent as well as prevent inadvertent push-off during stair descent. Our findings suggest that EMG signal from the residual limb muscles can be used to transition between level-ground walking and stair ascent/descent within a single step and significantly improve prosthesis performance during stair-ambulation. |
| first_indexed | 2024-09-23T17:06:15Z |
| format | Article |
| id | mit-1721.1/109396 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T17:06:15Z |
| publishDate | 2017 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/1093962022-10-03T10:28:33Z Volitional control of ankle plantar flexion in a powered transtibial prosthesis during stair-ambulation Herr, Hugh M Kannape, Oliver Alan Program in Media Arts and Sciences (Massachusetts Institute of Technology) Kannape, Oliver Herr, Hugh M Although great advances have been made in the design and control of lower extremity prostheses, walking on different terrains, such as ramps or stairs, and transitioning between these terrains remains a major challenge for the field. In order to generalize biomimetic behaviour of active lower-limb prostheses top-down volitional control is required but has until recently been deemed unfeasible due to the difficulties involved in acquiring an adequate electromyographic (EMG) signal. In this study, we hypothesize that a transtibial amputee can extend the functionality of a hybrid controller, designed for level ground walking, to stair ascent and descent by volitionally modulating powered plantar-flexion of the prosthesis. We here present data illustrating that the participant is able to reproduce ankle push-off behaviour of the intrinsic controller during stair ascent as well as prevent inadvertent push-off during stair descent. Our findings suggest that EMG signal from the residual limb muscles can be used to transition between level-ground walking and stair ascent/descent within a single step and significantly improve prosthesis performance during stair-ambulation. United States. Department of Defense (6920559) United States. Department of Defense (6920877) 2017-05-26T23:09:12Z 2017-05-26T23:09:12Z 2014-11 2014-08 Article http://purl.org/eprint/type/ConferencePaper 978-1-4244-7929-0 http://hdl.handle.net/1721.1/109396 Kannape, Oliver A., and Hugh M. Herr. “Volitional Control of Ankle Plantar Flexion in a Powered Transtibial Prosthesis during Stair-Ambulation.” 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE, 2014. 1662–1665. © 2017 IEEE https://orcid.org/0000-0003-3169-1011 en_US http://dx.doi.org/10.1109/EMBC.2014.6943925 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers MIT web domain |
| spellingShingle | Herr, Hugh M Kannape, Oliver Alan Volitional control of ankle plantar flexion in a powered transtibial prosthesis during stair-ambulation |
| title | Volitional control of ankle plantar flexion in a powered transtibial prosthesis during stair-ambulation |
| title_full | Volitional control of ankle plantar flexion in a powered transtibial prosthesis during stair-ambulation |
| title_fullStr | Volitional control of ankle plantar flexion in a powered transtibial prosthesis during stair-ambulation |
| title_full_unstemmed | Volitional control of ankle plantar flexion in a powered transtibial prosthesis during stair-ambulation |
| title_short | Volitional control of ankle plantar flexion in a powered transtibial prosthesis during stair-ambulation |
| title_sort | volitional control of ankle plantar flexion in a powered transtibial prosthesis during stair ambulation |
| url | http://hdl.handle.net/1721.1/109396 https://orcid.org/0000-0003-3169-1011 |
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