Strategies to reduce the configuration time for a powered knee and ankle prosthesis across multiple ambulation modes

Ann M. Simon, Nicholas P. Fey, Suzanne B. Finucane, Robert D. Lipschutz, Levi J. Hargrove

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Scopus citations

Abstract

Recently developed powered lower limb prostheses allow users to more closely mimic the kinematics and kinetics of non-amputee gait. However, configuring such a device, in particular a combined powered knee and ankle, for individuals with a transfemoral amputation is challenging. Previous attempts have relied on empirical tuning of all control parameters. This paper describes modified stance phase control strategies - which mimic the behavior of biological joints or depend on the instantaneous loads within the prosthesis - developed to reduce the number of control parameters that require individual tuning. Three individuals with unilateral transfemoral amputations walked with a powered knee and ankle prosthesis across five ambulation modes (level ground walking, ramp ascent/descent, and stair ascent/descent). Starting with a nominal set of impedance parameters, the modified control strategies were applied and the devices were individually tuned such that all subjects achieved comfortable and safe ambulation. The control strategies drastically reduced the number of independent parameters that needed to be tuned for each subject (i.e., to 21 parameters instead of a possible 140 or approximately 4 parameters per mode) while relative amplitudes and timing of kinematic and kinetic data remained similar to those previously reported and to those of non-amputee subjects. Reducing the time necessary to configure a powered device across multiple ambulation modes may allow users to more quickly realize the benefits such powered devices can provide.

Original languageEnglish (US)
Title of host publication2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013
DOIs
StatePublished - Dec 31 2013
Event2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013 - Seattle, WA, United States
Duration: Jun 24 2013Jun 26 2013

Publication series

NameIEEE International Conference on Rehabilitation Robotics
ISSN (Print)1945-7898
ISSN (Electronic)1945-7901

Other

Other2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013
CountryUnited States
CitySeattle, WA
Period6/24/136/26/13

Keywords

  • lower limb amputation
  • mechanically active prosthesis
  • prosthesis control
  • transfemoral amputee

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Rehabilitation
  • Electrical and Electronic Engineering

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    Simon, A. M., Fey, N. P., Finucane, S. B., Lipschutz, R. D., & Hargrove, L. J. (2013). Strategies to reduce the configuration time for a powered knee and ankle prosthesis across multiple ambulation modes. In 2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013 [6650371] (IEEE International Conference on Rehabilitation Robotics). https://doi.org/10.1109/ICORR.2013.6650371