Toward Balance Recovery With Leg Prostheses Using Neuromuscular Model Control

IEEE Transactions on Bio-medical Engineering
Nitish Thatte, Hartmut Geyer

Abstract

Lower limb amputees are at high risk of falling as current prosthetic legs provide only limited functionality for recovering balance after unexpected disturbances. For instance, the most established control method used on powered leg prostheses tracks local joint impedance functions without taking the global function of the leg in balance recovery into account. Here, we explore an alternative control policy for powered transfemoral prostheses that considers the global leg function and is based on a neuromuscular model of human locomotion. We adapt this model to describe and simulate an amputee walking with a powered prosthesis using the proposed control, and evaluate the gait robustness when confronted with rough ground and swing leg disturbances. We then implement and partially evaluate the resulting controller on a leg prosthesis prototype worn by a nonamputee user. In simulation, the proposed prosthesis control leads to gaits that are more robust than those obtained by the impedance control method. The initial hardware experiments with the prosthesis prototype show that the proposed control reproduces normal walking patterns qualitatively and effectively responds to disturbances in early and late swing. However, the response...Continue Reading

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Citations

Apr 6, 2016·IEEE Transactions on Bio-medical Engineering·Massimo SartoriDario Farina
Jun 24, 2017·Science·Juanjuan ZhangSteven H Collins
Jan 23, 2020·Bioinspiration & Biomimetics·Guoping ZhaoAndre Seyfarth
Jan 30, 2020·Bioinspiration & Biomimetics·Hamid Barazesh, Maziar Ahmad Sharbafi
Jul 28, 2018·Frontiers in Neurorobotics·Maziar A SharbafiAndre Seyfarth
Oct 7, 2020·Nature Biomedical Engineering·Alejandro F AzocarElliott J Rouse
Dec 11, 2018·Frontiers in Robotics and AI·Navvab KashiriNikos Tsagarakis
Feb 19, 2021·Journal of Neuroengineering and Rehabilitation·Tony ShuHugh M Herr
Aug 18, 2021·Journal of Neuroengineering and Rehabilitation·Seungmoon SongScott L Delp
Oct 13, 2021·Nature Medicine·Varun Nalam, He Helen Huang
Oct 9, 2021·Bioinspiration & Biomimetics·Vahid FirouziMaziar A Sharbafi

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