Toward Balance Recovery With Leg Prostheses Using Neuromuscular Model Control

Area of Science:

• Biomechanical engineering
• Robotics
• Human locomotion modeling

Background:

• Lower limb amputees face high fall risks due to limited prosthetic leg balance recovery.
• Current powered prostheses often use impedance control, neglecting the leg's global role in balance.

Purpose of the Study:

• To explore an alternative control policy for powered transfemoral prostheses based on a human locomotion neuromuscular model.
• To enhance balance recovery and gait robustness in amputees.

Main Methods:

• Adapted a human locomotion neuromuscular model for amputee simulation with a powered prosthesis.
• Evaluated gait robustness against rough terrain and swing leg disturbances.
• Implemented and partially tested the controller on a prosthesis prototype with a nonamputee.

Main Results:

• Simulations showed the proposed control yielded more robust gaits than impedance control.
• Prototype tests demonstrated qualitative replication of normal walking and effective response to early/late swing disturbances.
• Midswing disturbance responses did not replicate human patterns or prevent falls.

Conclusions:

• Neuromuscular model control presents a promising alternative for prosthesis control.
• Further research is required to refine the implementation and assess transferability to amputee gait.