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Updated: Aug 16, 2026
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A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
Published on: November 6, 2015
Phase-Based Haptic Feedback for Improved Neural Control of a Robotic Prosthetic Ankle: A Preliminary Study
Brendan Driscoll1, Joshua R Tacca2,3, Jangwhan Ahn2,3
1Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC 27606 USA.
IEEE Robotics and Automation Letters
|August 15, 2026
Summary
This study developed a haptic feedback system to train individuals with transtibial amputations (PWTA) to control robotic prosthetic legs using direct electromyography (dEMG). The system improved muscle activation patterns and prosthesis function, with lasting effects after training.
Area of Science:
- Biomedical Engineering
- Neuroscience
- Rehabilitation Technology
Background:
- Direct electromyographic (dEMG) control of robotic prostheses shows potential for restoring human-prosthesis coordination.
- Many individuals with amputations face challenges in generating effective EMG signals for prosthetic control.
Purpose of the Study:
- To develop and evaluate a novel, phase-based haptic feedback system for training persons with transtibial amputations (PWTA).
- To enable PWTAs to produce appropriate muscle activation patterns for dEMG control of a robotic ankle during walking.
Main Methods:
- A phase-based haptic feedback system was designed, providing instructional and corrective feedback.
- Three PWTAs were trained using the system, with biomechanics and EMG assessed pre-, during-, and post-feedback.
- The system guided residual muscle activation timing and confirmed target pattern achievement.
Main Results:
- All participants modified their EMG activation patterns and increased stance duration.
- Significant improvements were observed in robotic prosthesis function, including increased step-to-step transition work and peak ankle power.
- These functional improvements persisted after the haptic feedback was removed.
Conclusions:
- Phase-based haptic feedback is a feasible training tool for dEMG control of robotic prosthetic legs.
- The system effectively enhances human-prosthesis coordination and motor learning in PWTAs.
- This approach holds promise for improving prosthetic limb functionality and user independence.
