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Bio-Inspired Adaptive Control for Active Knee Exoprosthetics.

Anna Pagel, Raffaele Ranzani, Robert Riener

    IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
    |September 1, 2017
    PubMed
    Summary

    Researchers developed new control features for prosthetic legs, enhancing user adaptation and physiological control. These innovations improve gait and ease transitions, bringing prosthetic function closer to biological legs.

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    Area of Science:

    • Biomedical Engineering
    • Robotics
    • Neuroscience

    Background:

    • Achieving intuitive control in prosthetic legs requires seamless integration with user impedance modulation.
    • Current prosthetic leg controllers often lack physiological adaptability and user-cooperation.

    Purpose of the Study:

    • To introduce and evaluate two novel control features for prosthetic legs: a neuromusculoskeletal impedance model and a human model reference adaptive controller.
    • To enhance physiological control and user-adaptive capabilities in active knee prostheses.

    Main Methods:

    • Simulations were conducted using the neuromusculoskeletal impedance model during the stance phase.
    • Pilot experiments involved unimpaired and amputee subjects testing the controllers during gait.
    • Quantitative analysis focused on root mean square error (RMSE) of knee joint angle and subjective user feedback.

    Main Results:

    • The neuromusculoskeletal impedance model enabled physiological knee joint angle and moment control in simulations.
    • Perturbations showed a 96% reduction in RMSE with the impedance model compared to reference angles.
    • In pilot experiments, subjects preferred the adaptive controller and reported easier stance-to-swing transitions, with combined controllers reducing RMSE by up to 54%.

    Conclusions:

    • A reflex-based impedance controller combined with an adaptive controller shows promise for improving user-cooperative behavior in active knee prostheses.
    • These control strategies advance the goal of making prosthetic leg function more closely resemble biological counterparts.
    • The findings suggest a pathway towards more intuitive and adaptive prosthetic limb control.