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Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis
Published on: July 22, 2014
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Automatic Stub Avoidance for a Powered Prosthetic Leg Over Stairs and Obstacles
IEEE Transactions on Bio-Medical Engineering
|December 7, 2023
Summary
This study introduces a new controller for powered prosthetic legs that uses an ultrasonic sensor to prevent stubs. It significantly reduced leg collisions for amputee users during stair and obstacle navigation.
Area of Science:
- Biomedical Engineering
- Rehabilitation Robotics
- Prosthetics and Orthotics
Background:
- Passive prostheses necessitate user compensations to avoid obstacles.
- Powered prostheses aim to restore natural movement but risk collisions due to lack of environmental awareness and user control.
Purpose of the Study:
- To develop and evaluate a novel stub avoidance controller for powered prostheses.
- To enhance safety and reduce user effort in transfemoral amputees using powered prosthetic legs.
Main Methods:
- Implemented a stub avoidance controller using an ultrasonic sensor for real-time environmental distance measurement.
- Integrated the controller to automatically adjust prosthetic knee/ankle kinematics.
- Conducted a case study with two transfemoral amputee participants.
Main Results:
- Reduced stair ascent stub rate by 89.95%.
- Achieved an 87.50% obstacle avoidance rate on level ground.
- Eliminated the need for thigh kinematic compensation.
Conclusions:
- The developed controller offers a practical perception solution for powered prostheses.
- This technology enhances safety by preventing collisions with stairs and obstacles.
- Restores normative biomechanics during daily activities for amputee users.
