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Real-Time Interface Algorithm for Ankle Kinematics and Stiffness From Electromyographic Signals.

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    A new control system for below-knee (transtibial) prostheses uses muscle signals for intuitive control of position and stiffness. This advancement offers improved functionality for amputees, outperforming able-bodied individuals in initial tests.

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    Area of Science:

    • Biomedical Engineering
    • Rehabilitation Technology
    • Prosthetics and Orthotics

    Background:

    • Millions of lower-limb amputees face functional deficits and medical complications due to limitations in current below-knee (transtibial) prostheses.
    • Active transtibial prostheses show promise, but existing control systems hinder their effectiveness.

    Purpose of the Study:

    • To develop and evaluate a novel interface for intuitive, two-degrees-of-freedom position and stiffness control of transtibial prostheses.
    • To utilize muscle electrical signals from the lower leg for controlling prosthetic limb function.

    Main Methods:

    • Developed an algorithm for position and stiffness control based entirely on lower leg muscle electrical signals.
    • Tested voluntary position and stiffness control in 8 able-bodied and 2 transtibial amputees.
    • Assessed stiffness control with foot position estimation during walking in 8 able-bodied and 1 transtibial amputee.

    Main Results:

    • Amputees demonstrated a higher target-reaching success rate (82.5% and 72.5%) compared to able-bodied individuals (72.5% and 68.1%) in position and stiffness matching tasks.
    • The algorithm enabled control of four stiffness levels during walking, with high accuracy in estimating foot kinematics across different speeds.
    • Gait cycle cross-correlation exceeded 75% (sagittal) and 90% (frontal), with low root mean square error (<7.5° sagittal, <3° frontal).

    Conclusions:

    • The novel algorithm is feasible for online control of multiple degrees of freedom and stiffness in lower limb prostheses.
    • This system shows potential to significantly improve the functional capabilities and reduce complications for transtibial amputees.
    • The reliance on muscle electrical signals offers an intuitive and effective control strategy for advanced prosthetic limbs.