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Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis

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Extremum-Seeking Control for a Robotic Leg Prosthesis with Sensory Feedback.

¹School of Information and Control Engineering, Southwest University of Science and Technology, Mianyang 621000, China.

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Summary

This summary is machine-generated.

This study introduces a novel method using noninvasive functional electrical stimulation (nFES) to help lower-limb amputees sense ground contact forces, enabling real-time prosthetic leg adjustments for varied terrains.

Keywords:

extremum-seeking control robotic leg prosthesis sensory feedback

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Area of Science:

Biomechanics and Robotics
Neuroprosthetics
Control Systems Engineering

Background:

Human locomotion relies on sensing leg-ground contact forces to adapt walking speed and leg stiffness.
Lower-limb amputees lack this natural sensory feedback, hindering prosthetic leg adaptation to different terrains.

Purpose of the Study:

To develop a noninvasive functional electrical stimulation (nFES) system to provide sensory feedback for prosthetic leg control.
To enable lower-limb amputees to adjust prosthetic leg parameters in real-time for varied walking terrains.

Main Methods:

Utilized noninvasive functional electrical stimulation (nFES) to relay leg-ground contact force information.
Implemented an extremum-seeking control (ESC) strategy to optimize prosthetic leg control parameters.
Designed a cost function integrating joint tracking errors and stimulation current changes.

Main Results:

Demonstrated the stability of the proposed controller incorporating extremum-seeking dynamics.
Experimental results confirmed that the ESC method effectively adjusted prosthetic leg parameters based on real-time feedback.
The system enabled adaptive control of prosthetic legs across different walking terrains.

Conclusions:

The developed nFES system and ESC strategy offer a promising approach for enhancing prosthetic leg functionality.
This method allows for natural regulation of prosthetic leg behavior, mimicking human locomotion.
Improved sensory feedback and adaptive control can significantly benefit lower-limb amputees in navigating diverse environments.