Initial Results of a Variable Speed Knee Controller for Walking with a Powered Knee and Ankle Prosthesis

Kyle J. Kaveny; Ann M. Simon; Tommaso Lenzi; Suzanne B. Finucane; Emily A. Seyforth; Graci Finco; Kasen L. Culler; Levi J. Hargrove

doi:10.1109/BIOROB.2018.8487193

Initial Results of a Variable Speed Knee Controller for Walking with a Powered Knee and Ankle Prosthesis

Kyle J. Kaveny^*, Ann M. Simon, Tommaso Lenzi, Suzanne B. Finucane, Emily A. Seyforth, Graci Finco, Kasen L. Culler, Levi J. Hargrove

^*Corresponding author for this work

Physical Medicine and Rehabilitation

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

5 Scopus citations

Abstract

Powered knee and ankle prostheses can potentially improve the mobility and function of their users, but determining the best way to control the prosthesis is difficult. Controllers that vary knee swing speed have been shown to restore gait symmetry with a powered knee and ankle prosthesis. This study's goal was to combine an existing variable speed knee swing controller with an existing impedance stance controller to determine if comfortable walking with variable cadence can be achieved and if the control method transitions would be noticeable to the user. The knee swing trajectory and duration was varied based on user walking speed as a function of the previous stance phase duration. Four individuals with unilateral transfemoral amputations were fit with a powered knee and ankle prosthesis. After 30-45 minutes of practice walking with the variable knee swing controller, subjects performed a variable speed walk test, a steady state walk test, and a 10-meter walk test. A GAITRite mat was used to collect spatial and temporal walking parameters during the 10-meter walk test. Results showed that subjects could control prosthetic knee swing duration and kinematics by modifying their walking speed. Subjects were able to comfortably transition between speeds and achieve mean (SD) comfortable and fast speeds of 1.10 (0.05) and 1.51 (0.05) m/s, respectively for a 10-meter walk test. This study's contribution is to show that a variable speed knee controller can be combined with an impedance-based controller while maintaining the functionality of both controllers and to provide gait mechanics for amputee powered gait that can be used towards future studies of controller development and prosthesis design.

Original language	English (US)
Title of host publication	BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics
Publisher	IEEE Computer Society
Pages	764-769
Number of pages	6
ISBN (Electronic)	9781538681831
DOIs	https://doi.org/10.1109/BIOROB.2018.8487193
State	Published - Oct 9 2018
Event	7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018 - Enschede, Netherlands Duration: Aug 26 2018 → Aug 29 2018

Publication series

Name	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume	2018-August
ISSN (Print)	2155-1774

Other

Other	7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018
Country/Territory	Netherlands
City	Enschede
Period	8/26/18 → 8/29/18

Funding

This research was funded by the National Institutes of Health NICHD (R01 HD079428-02). *K. J. Kaveny is the corresponding author: e-mail: [email protected] 1Author is with the Shirley Ryan AbilityLab, Chicago, IL 60611 USA 2Author is with the Department of Physical Medicine and Rehabilitation, Northwestern University, Chicago, IL 60611 USA 3Author is with the Department of Biomedical Engineering, Northwestern University, Evanston, IL 60208, USA 4Author is with the Department of Mechanical Engineering and the Utah Robotics Center at the University of Utah, Salt Lake City, UT, USA

ASJC Scopus subject areas

Artificial Intelligence
Biomedical Engineering
Mechanical Engineering

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10.1109/BIOROB.2018.8487193

Cite this

Kaveny, K. J., Simon, A. M., Lenzi, T., Finucane, S. B., Seyforth, E. A., Finco, G., Culler, K. L., & Hargrove, L. J. (2018). Initial Results of a Variable Speed Knee Controller for Walking with a Powered Knee and Ankle Prosthesis. In BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (pp. 764-769). Article 8487193 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics; Vol. 2018-August). IEEE Computer Society. https://doi.org/10.1109/BIOROB.2018.8487193

Kaveny, Kyle J. ; Simon, Ann M. ; Lenzi, Tommaso et al. / Initial Results of a Variable Speed Knee Controller for Walking with a Powered Knee and Ankle Prosthesis. BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. IEEE Computer Society, 2018. pp. 764-769 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

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title = "Initial Results of a Variable Speed Knee Controller for Walking with a Powered Knee and Ankle Prosthesis",

abstract = "Powered knee and ankle prostheses can potentially improve the mobility and function of their users, but determining the best way to control the prosthesis is difficult. Controllers that vary knee swing speed have been shown to restore gait symmetry with a powered knee and ankle prosthesis. This study's goal was to combine an existing variable speed knee swing controller with an existing impedance stance controller to determine if comfortable walking with variable cadence can be achieved and if the control method transitions would be noticeable to the user. The knee swing trajectory and duration was varied based on user walking speed as a function of the previous stance phase duration. Four individuals with unilateral transfemoral amputations were fit with a powered knee and ankle prosthesis. After 30-45 minutes of practice walking with the variable knee swing controller, subjects performed a variable speed walk test, a steady state walk test, and a 10-meter walk test. A GAITRite mat was used to collect spatial and temporal walking parameters during the 10-meter walk test. Results showed that subjects could control prosthetic knee swing duration and kinematics by modifying their walking speed. Subjects were able to comfortably transition between speeds and achieve mean (SD) comfortable and fast speeds of 1.10 (0.05) and 1.51 (0.05) m/s, respectively for a 10-meter walk test. This study's contribution is to show that a variable speed knee controller can be combined with an impedance-based controller while maintaining the functionality of both controllers and to provide gait mechanics for amputee powered gait that can be used towards future studies of controller development and prosthesis design.",

author = "Kaveny, {Kyle J.} and Simon, {Ann M.} and Tommaso Lenzi and Finucane, {Suzanne B.} and Seyforth, {Emily A.} and Graci Finco and Culler, {Kasen L.} and Hargrove, {Levi J.}",

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Kaveny, KJ, Simon, AM, Lenzi, T, Finucane, SB, Seyforth, EA, Finco, G, Culler, KL & Hargrove, LJ 2018, Initial Results of a Variable Speed Knee Controller for Walking with a Powered Knee and Ankle Prosthesis. in BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics., 8487193, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, vol. 2018-August, IEEE Computer Society, pp. 764-769, 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018, Enschede, Netherlands, 8/26/18. https://doi.org/10.1109/BIOROB.2018.8487193

Initial Results of a Variable Speed Knee Controller for Walking with a Powered Knee and Ankle Prosthesis. / Kaveny, Kyle J.; Simon, Ann M.; Lenzi, Tommaso et al.
BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. IEEE Computer Society, 2018. p. 764-769 8487193 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics; Vol. 2018-August).

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

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AU - Seyforth, Emily A.

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N2 - Powered knee and ankle prostheses can potentially improve the mobility and function of their users, but determining the best way to control the prosthesis is difficult. Controllers that vary knee swing speed have been shown to restore gait symmetry with a powered knee and ankle prosthesis. This study's goal was to combine an existing variable speed knee swing controller with an existing impedance stance controller to determine if comfortable walking with variable cadence can be achieved and if the control method transitions would be noticeable to the user. The knee swing trajectory and duration was varied based on user walking speed as a function of the previous stance phase duration. Four individuals with unilateral transfemoral amputations were fit with a powered knee and ankle prosthesis. After 30-45 minutes of practice walking with the variable knee swing controller, subjects performed a variable speed walk test, a steady state walk test, and a 10-meter walk test. A GAITRite mat was used to collect spatial and temporal walking parameters during the 10-meter walk test. Results showed that subjects could control prosthetic knee swing duration and kinematics by modifying their walking speed. Subjects were able to comfortably transition between speeds and achieve mean (SD) comfortable and fast speeds of 1.10 (0.05) and 1.51 (0.05) m/s, respectively for a 10-meter walk test. This study's contribution is to show that a variable speed knee controller can be combined with an impedance-based controller while maintaining the functionality of both controllers and to provide gait mechanics for amputee powered gait that can be used towards future studies of controller development and prosthesis design.

AB - Powered knee and ankle prostheses can potentially improve the mobility and function of their users, but determining the best way to control the prosthesis is difficult. Controllers that vary knee swing speed have been shown to restore gait symmetry with a powered knee and ankle prosthesis. This study's goal was to combine an existing variable speed knee swing controller with an existing impedance stance controller to determine if comfortable walking with variable cadence can be achieved and if the control method transitions would be noticeable to the user. The knee swing trajectory and duration was varied based on user walking speed as a function of the previous stance phase duration. Four individuals with unilateral transfemoral amputations were fit with a powered knee and ankle prosthesis. After 30-45 minutes of practice walking with the variable knee swing controller, subjects performed a variable speed walk test, a steady state walk test, and a 10-meter walk test. A GAITRite mat was used to collect spatial and temporal walking parameters during the 10-meter walk test. Results showed that subjects could control prosthetic knee swing duration and kinematics by modifying their walking speed. Subjects were able to comfortably transition between speeds and achieve mean (SD) comfortable and fast speeds of 1.10 (0.05) and 1.51 (0.05) m/s, respectively for a 10-meter walk test. This study's contribution is to show that a variable speed knee controller can be combined with an impedance-based controller while maintaining the functionality of both controllers and to provide gait mechanics for amputee powered gait that can be used towards future studies of controller development and prosthesis design.

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Kaveny KJ, Simon AM, Lenzi T, Finucane SB, Seyforth EA, Finco G et al. Initial Results of a Variable Speed Knee Controller for Walking with a Powered Knee and Ankle Prosthesis. In BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. IEEE Computer Society. 2018. p. 764-769. 8487193. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). doi: 10.1109/BIOROB.2018.8487193

Initial Results of a Variable Speed Knee Controller for Walking with a Powered Knee and Ankle Prosthesis

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