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

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

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish (US)
Title of host publicationBIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics
PublisherIEEE Computer Society
Pages764-769
Number of pages6
ISBN (Electronic)9781538681831
DOIs
StatePublished - Oct 9 2018
Event7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018 - Enschede, Netherlands
Duration: Aug 26 2018Aug 29 2018

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume2018-August
ISSN (Print)2155-1774

Other

Other7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018
CountryNetherlands
CityEnschede
Period8/26/188/29/18

Fingerprint

Controllers
Prosthetics
Prostheses and Implants
Mechanics
Kinematics
Trajectories

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

Cite this

Kaveny, K. J., Simon, A., Lenzi, T., Finucane, S. B., Seyforth, E. A., Finco, G., ... 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). [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, Annie ; Lenzi, Tommaso ; Finucane, Suzanne B. ; Seyforth, Emily A. ; Finco, Graci ; Culler, Kasen L. ; Hargrove, Levi J. / 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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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 Annie Simon 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, A, 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, Annie; Lenzi, Tommaso; Finucane, Suzanne B.; Seyforth, Emily A.; Finco, Graci; Culler, Kasen L.; Hargrove, Levi J.

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 proceedingConference contribution

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AU - Kaveny, Kyle J.

AU - Simon, Annie

AU - Lenzi, Tommaso

AU - Finucane, Suzanne B.

AU - Seyforth, Emily A.

AU - Finco, Graci

AU - Culler, Kasen L.

AU - Hargrove, Levi J

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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 A, 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). https://doi.org/10.1109/BIOROB.2018.8487193