Development and preliminary testing of a flexible control system for powered knee-Ankle prostheses

Ann M. Simon; Kimberly A. Ingraham; John A. Spanias; Aaron J. Young; Levi J. Hargrove

doi:10.1109/BIOROB.2016.7523709

Development and preliminary testing of a flexible control system for powered knee-Ankle prostheses

Ann M. Simon^*, Kimberly A. Ingraham, John A. Spanias, Aaron J. Young, Levi J. Hargrove

^*Corresponding author for this work

Physical Medicine and Rehabilitation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Scopus citations

Abstract

Recently developed motorized lower limb prostheses which provide joint power at the knee and/or ankle have been shown to assist users in performing a variety of ambulation tasks. Control of these devices, specifically creating seamless, natural, and accurate mode transitions, is challenging. The control system also needs to allow users the flexibility to perform these tasks with a wide range of variability. The goal of this study was to develop and test a flexible control system for a powered knee-Ankle prosthesis. Specifically, a pattern recognition system was trained to recognize the transitions between six modes (standing, level-ground walking, ramp ascent, ramp descent, stair ascent, and stair descent) at various discrete time points during the gait cycle. Six transfemoral users were successful performing a variety of ambulation tasks including climbing a 3-and 4-step staircases, performing walking and standing transitions to and from the staircases, approaching the stairs and ramps at various angles, and ambulating at various speeds. Offline classification results demonstrate that system error rates 1.6% [1.0%], mean [standard deviation], at heel contact and 0.5% [0.2%] at toe off. The results of this study are encouraging and provide another step towards a clinically viable lower limb intent recognition system for a powered knee-Ankle prosthesis.

Original language	English (US)
Title of host publication	2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
Publisher	IEEE Computer Society
Pages	704-709
Number of pages	6
ISBN (Electronic)	9781509032877
DOIs	https://doi.org/10.1109/BIOROB.2016.7523709
State	Published - Jul 26 2016
Event	6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - Singapore, Singapore Duration: Jun 26 2016 → Jun 29 2016

Publication series

Name	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume	2016-July
ISSN (Print)	2155-1774

Other

Other	6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
Country/Territory	Singapore
City	Singapore
Period	6/26/16 → 6/29/16

Funding

This work was supported by the National Institutes of Health NIH R01HD079428-02

ASJC Scopus subject areas

Artificial Intelligence
Biomedical Engineering
Mechanical Engineering

Access to Document

10.1109/BIOROB.2016.7523709

Cite this

Simon, A. M., Ingraham, K. A., Spanias, J. A., Young, A. J., & Hargrove, L. J. (2016). Development and preliminary testing of a flexible control system for powered knee-Ankle prostheses. In 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 (pp. 704-709). Article 7523709 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics; Vol. 2016-July). IEEE Computer Society. https://doi.org/10.1109/BIOROB.2016.7523709

Simon, Ann M. ; Ingraham, Kimberly A. ; Spanias, John A. et al. / Development and preliminary testing of a flexible control system for powered knee-Ankle prostheses. 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016. IEEE Computer Society, 2016. pp. 704-709 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

@inproceedings{af0463e8c2934378be1145efb949da77,

title = "Development and preliminary testing of a flexible control system for powered knee-Ankle prostheses",

abstract = "Recently developed motorized lower limb prostheses which provide joint power at the knee and/or ankle have been shown to assist users in performing a variety of ambulation tasks. Control of these devices, specifically creating seamless, natural, and accurate mode transitions, is challenging. The control system also needs to allow users the flexibility to perform these tasks with a wide range of variability. The goal of this study was to develop and test a flexible control system for a powered knee-Ankle prosthesis. Specifically, a pattern recognition system was trained to recognize the transitions between six modes (standing, level-ground walking, ramp ascent, ramp descent, stair ascent, and stair descent) at various discrete time points during the gait cycle. Six transfemoral users were successful performing a variety of ambulation tasks including climbing a 3-and 4-step staircases, performing walking and standing transitions to and from the staircases, approaching the stairs and ramps at various angles, and ambulating at various speeds. Offline classification results demonstrate that system error rates 1.6\% [1.0\%], mean [standard deviation], at heel contact and 0.5\% [0.2\%] at toe off. The results of this study are encouraging and provide another step towards a clinically viable lower limb intent recognition system for a powered knee-Ankle prosthesis.",

author = "Simon, \{Ann M.\} and Ingraham, \{Kimberly A.\} and Spanias, \{John A.\} and Young, \{Aaron J.\} and Hargrove, \{Levi J.\}",

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Simon, AM, Ingraham, KA, Spanias, JA, Young, AJ & Hargrove, LJ 2016, Development and preliminary testing of a flexible control system for powered knee-Ankle prostheses. in 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016., 7523709, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, vol. 2016-July, IEEE Computer Society, pp. 704-709, 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016, Singapore, Singapore, 6/26/16. https://doi.org/10.1109/BIOROB.2016.7523709

Development and preliminary testing of a flexible control system for powered knee-Ankle prostheses. / Simon, Ann M.; Ingraham, Kimberly A.; Spanias, John A. et al.
2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016. IEEE Computer Society, 2016. p. 704-709 7523709 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics; Vol. 2016-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Hargrove, Levi J.

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Simon AM, Ingraham KA, Spanias JA, Young AJ, Hargrove LJ. Development and preliminary testing of a flexible control system for powered knee-Ankle prostheses. In 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016. IEEE Computer Society. 2016. p. 704-709. 7523709. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). doi: 10.1109/BIOROB.2016.7523709

Development and preliminary testing of a flexible control system for powered knee-Ankle prostheses

Abstract

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ASJC Scopus subject areas

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