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Finite-State Impedance and Direct Myoelectric Control for Robotic Ankle Prostheses: Comparing Their Performance and

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    Area of Science:

    • Biomedical Engineering
    • Rehabilitation Robotics
    • Human-Machine Interface

    Background:

    • Prosthetic control systems aim to restore natural limb function.
    • Non-volitional control (e.g., finite-state machine impedance control) lacks user intent, while volitional control (e.g., direct myoelectric control) uses user signals.
    • Hybrid approaches seek to combine the benefits of both control strategies.

    Purpose of the Study:

    • To compare finite-state machine (FSM) impedance control and direct myoelectric control (DMC) in lower-limb robotic prostheses.
    • To evaluate the feasibility and performance of a hybrid volitional control (HVC) combining FSM and DMC.
    • To assess user perception and performance across different prosthetic control strategies.

    Main Methods:

    • Comparative study involving subjects with and without transtibial amputation.
    • Subjects used FSM impedance control, DMC, and HVC on a robotic prosthesis.
    • Performance metrics included peak torque/power, kinetic/kinematic trajectories, and ability to perform specific activities.
    • User satisfaction was assessed via questionnaires.

    Main Results:

    • FSM impedance control yielded higher peak torque and power but resulted in non-standard biomechanical trajectories.
    • DMC produced trajectories more similar to able-bodied gait.
    • HVC enabled ankle push-off modulation but behaved like FSM or DMC individually, not a true combination.
    • DMC and HVC allowed for advanced activities (tip-toe, side-step, etc.), unlike FSM.
    • Transtibial amputees preferred DMC; able-bodied subjects showed split preferences.

    Conclusions:

    • DMC offers a more intuitive and biomechanically relevant control for transtibial amputees.
    • HVC did not demonstrate synergistic benefits over individual FSM or DMC control.
    • Advanced prosthetic functionalities are better achieved with volitional control strategies like DMC.
    • User preference strongly correlates with perceived performance and ease of use in prosthetic control.