Minimum jerk swing control allows variable cadence in powered transfemoral prostheses.

Area of Science:

• Biomedical Engineering
• Robotics
• Biomechanics

Background:

• Transfemoral prostheses aim to restore natural gait.
• Existing controllers often struggle with adaptable and physiological swing phase dynamics.
• Minimum jerk theory offers a framework for smooth, natural movement trajectories.

Purpose of the Study:

• To develop and validate a novel swing phase controller for powered transfemoral prostheses.
• To achieve physiologically appropriate swing movements irrespective of walking speed.
• To eliminate the need for speed- or patient-specific tuning.

Main Methods:

• Implementation of a minimum jerk-based trajectory generation for the swing phase.
• Integration with a powered transfemoral prosthesis system.
• Preliminary clinical validation with a transfemoral amputee subject.

Main Results:

• The controller successfully generated physiologically appropriate swing timing.
• The system demonstrated adaptability across different walking speeds.
• No patient-specific or speed-dependent tuning was required for effective operation.

Conclusions:

• The minimum jerk-based swing phase controller offers a promising approach for advanced transfemoral prostheses.
• This controller enables more natural and adaptive prosthetic limb function.
• Future work may involve broader clinical trials and integration with advanced stance controllers.