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Continuous volitional control of a bionic leg supports diverse walking patterns in both agonist-antagonist muscle interface and bone-anchored prosthesis users

  • 0Department of Biomechanical Engineering, University of Twente, Enschede 7522 LW, The Netherlands.
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February 2, 2026

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February 2, 2026

View abstract on PubMed

Summary

This summary is machine-generated.

This study introduces a novel human-machine interface for bionic leg control, enabling users with agonist-antagonist muscle interfaces and bone-anchored prostheses to achieve continuous volitional movement across various conditions.

Area Of Science

  • Biomedical Engineering
  • Rehabilitation Robotics
  • Neuroprosthetics

Background

  • Myoelectric control offers potential for bionic limb volitional control.
  • Previous studies showed better control in below-knee amputees with agonist-antagonist muscle interfaces (AMI).
  • Control in non-AMI users with bone-anchored prostheses (BAP) remains less understood.

Purpose Of The Study

  • To propose a human-machine interface (HMI) for volitional, continuous myoelectric control of a bionic leg.
  • To test the HMI in both AMI and BAP users during diverse walking conditions.
  • To evaluate the HMI's effectiveness using a neuromechanical model and digital twin.

Main Methods

  • Developed an HMI based on a neuromechanical model and a digital twin of the intact leg.
  • Measured muscle activations from the residual limb to synthesize phantom limb function.
  • Implemented a real-time framework for prosthesis control during overground walking, calf raises, and ramp ascent.

Main Results

  • Participants achieved volitional modulation of prosthesis peak plantar-dorsiflexion torques (timing and amplitude).
  • All three subjects learned to adjust muscle activation patterns, with 87% of peak activations falling within target ranges.
  • Successful control demonstrated across various walking speeds (1.6-3.96 km/h) and inclines (3-5%).

Conclusions

  • The proposed neuromechanical modeling technology enables generalizable HMIs for active prostheses.
  • This approach facilitates volitional control beyond specific user types or movement conditions.
  • Opens new avenues for advanced prosthetic limb control systems.

Keywords:

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