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

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Proposal and Technical Validation of a Robotic Cane with Admittance Controller.

Jeysson Tapia, Oscar Camacho, Anselmo Frizera-Neto

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference

|December 3, 2025

Summary

This study introduces a novel robotic assistance cane designed to aid individuals with mobility impairments. Preliminary tests show the robotic cane operates efficiently, detecting necessary variables and managing control algorithms for gait rehabilitation.

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Area of Science:

Robotics
Rehabilitation Engineering
Biomechanics

Background:

Robotics offers practical solutions in healthcare, improving lifestyles.
Neurological and musculoskeletal disorders affect a significant portion of the population.
An aging population necessitates improved mobility assistance and rehabilitation solutions.

Purpose of the Study:

To propose and technically validate a novel robotic assistance cane.
To assess the device's performance using an admittance controller and preliminary subject analysis.
To explore advanced control strategies for user-specific gait rehabilitation.

Main Methods:

Development of a robotic cane with novel mechanical, electronic, and programming features.
Preliminary technical validation with a single healthy volunteer using a splinted lower limb.
Implementation and testing of an admittance controller to study device behavior under controlled conditions.

Main Results:

The robotic cane demonstrated efficient operation during preliminary testing.
The device successfully detected required variables for correct functioning.
Advanced control algorithms were managed effectively by the robotic cane.

Conclusions:

The robotic assistance cane shows promise for gait assistance and rehabilitation.
The technical validation supports the device's potential for improving the quality of life for individuals with mobility impairments.
Further research will focus on advanced control strategies and patient trials.