Posts Tagged: prosthetics

  • A New Modeling Method to Characterize the Stance Control Function of Prosthetic Knee Joints

    A New Modeling Method to Characterize the Stance Control Function of Prosthetic Knee Joints

    A new method is presented to characterize the function of lower-limb prosthetic stance control under mobility conditions associated with activities of daily living. The method is based on a model of the gait modes corresponding to finite stance control states. Empirical data from amputee and simulated gait were acquired using a custom built wearable instrument and input into the model. The modeling approach was shown to be robust, responsive and capable of accurate characterization of controller function under diverse of locomotor and prosthetic setup conditions.

  • Depth Sensing for Improved Control of Lower Limb Prostheses

    We developed, characterized, and validated an algorithm for recognizing stairs in the environment using data from a worn RGB-D sensor. The measures that we extracted from the environment, including the distance to the stairs, angle of approach, height, width, and depth of stairs, and stair count, were characterized and found to be highly correlated and accurate. Also, an estimate of when the user was approaching stairs was produced during an online walking test, which resulted in over 98% accuracy and a frame rate of more than 5 fps. We plan to fuse the environmental estimates with information obtained from EMG, kinetics, and kinematics for predicting the correct locomotion mode for an ankle-knee prosthesis.

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