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Combining human volitional control with intrinsic controller on robotic prosthesis: A case study on adaptive slope

Baojun Chen, Qining Wang

    Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
    |January 7, 2016
    PubMed
    Summary

    This study introduces a hybrid controller for robotic transtibial prostheses, combining intrinsic estimation with user muscle signals. This system allows amputees to adapt to terrain changes with reduced conscious effort.

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    Area of Science:

    • Biomedical Engineering
    • Rehabilitation Robotics
    • Human-Machine Interfaces

    Background:

    • Robotic prostheses offer improved adaptability and proprioception for lower-limb amputees.
    • Direct volitional control increases cognitive load for prosthesis users.

    Purpose of the Study:

    • To propose and evaluate a hybrid controller for transtibial prostheses.
    • To reduce the conscious attention required for prosthesis control during adaptive walking.

    Main Methods:

    • A hybrid controller integrating an intrinsic slope estimator and a myoelectric controller was designed.
    • The intrinsic controller estimated ground slope from prosthetic sensor data.
    • The myoelectric controller mapped residual muscle electromyography (EMG) signals to slope increments.

    Main Results:

    • The intrinsic slope estimator achieved satisfactory results with a mean absolute error of 0.70 ± 0.54 degrees.
    • The hybrid controller successfully predicted upcoming slope changes by incorporating volitional control.

    Conclusions:

    • The hybrid controller effectively reduces the cognitive burden of prosthesis control.
    • This approach enhances adaptive walking for lower-limb amputees by integrating intrinsic and volitional control mechanisms.