scholarly journals Real Time Estimation of the Pose of a Lower Limb Prosthesis from a Single Shank Mounted IMU

Sensors ◽  
2019 ◽  
Vol 19 (13) ◽  
pp. 2865 ◽  
Author(s):  
Duraffourg ◽  
Bonnet ◽  
Dauriac ◽  
Pillet
Keyword(s):  
Real Time ◽  
Lower Limb ◽  
Time Estimation ◽  
Measurement Unit ◽  
Correct Identification ◽  
Accelerometer Data ◽  
Mode Recognition ◽  
Lower Limb Prosthesis ◽  
Real Time Estimation ◽  
Limb Prosthesis

The command of a microprocessor-controlled lower limb prosthesis classically relies on the gait mode recognition. Real time computation of the pose of the prosthesis (i.e., attitude and trajectory) is useful for the correct identification of these modes. In this paper, we present and evaluate an algorithm for the computation of the pose of a lower limb prosthesis, under the constraints of real time applications and limited computing resources. This algorithm uses a nonlinear complementary filter with a variable gain to estimate the attitude of the shank. The trajectory is then computed from the double integration of the accelerometer data corrected from the kinematics of a model of inverted pendulum rolling on a curved arc foot. The results of the proposed algorithm are evaluated against the optoelectronic measurements of walking trials of three people with transfemoral amputation. The root mean square error (RMSE) of the estimated attitude is around 3°, close to the Kalman-based algorithm results reported in similar conditions. The real time correction of the integration of the inertial measurement unit (IMU) acceleration decreases the trajectory error by a factor of 2.5 compared to its direct integration which will result in an improvement of the gait mode recognition.

scholarly journals Noninvasive Human-Prosthesis Interfaces for Locomotion Intent Recognition: A Review

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Dongfang Xu ◽  
Qining Wang
Keyword(s):  
Lower Limb ◽  
Control Strategies ◽  
Recognition Task ◽  
Intent Recognition ◽  
Mode Recognition ◽  
Lower Limb Prosthesis ◽  
Gait Phase ◽  
Robotic Prosthesis ◽  
Limb Prosthesis

The lower-limb robotic prostheses can provide assistance for amputees’ daily activities by restoring the biomechanical functions of missing limb(s). To set proper control strategies and develop the corresponding controller for robotic prosthesis, a prosthesis user’s intent must be acquired in time, which is still a major challenge and has attracted intensive attentions. This work focuses on the robotic prosthesis user’s locomotion intent recognition based on the noninvasive sensing methods from the recognition task perspective (locomotion mode recognition, gait event detection, and continuous gait phase estimation) and reviews the state-of-the-art intent recognition techniques in a lower-limb prosthesis scope. The current research status, including recognition approach, progress, challenges, and future prospects in the human’s intent recognition, has been reviewed. In particular for the recognition approach, the paper analyzes the recent studies and discusses the role of each element in locomotion intent recognition. This work summarizes the existing research results and problems and contributes a general framework for the intent recognition based on lower-limb prosthesis.

scholarly journals Multiclass Real-Time Intent Recognition of a Powered Lower Limb Prosthesis

2010 ◽  
Vol 57 (3) ◽  
pp. 542-551 ◽  
Author(s):  
H.A. Varol ◽  
F. Sup ◽  
M. Goldfarb
Keyword(s):  
Real Time ◽  
Lower Limb ◽  
Intent Recognition ◽  
Lower Limb Prosthesis ◽  
Limb Prosthesis ◽  
Powered Lower Limb Prosthesis

scholarly journals Activity, socket fit, comfort, and community participation in lower limb prosthesis-users: A Cambodian cohort study

2021 ◽  
Author(s):  
Laura Diment ◽  
RaksmeyMutta Nguon ◽  
Sovansereyrathna Seng ◽  
Vannsnavy Sit ◽  
Ply Lors ◽  
...  
Keyword(s):  
Physical Activity ◽  
Community Participation ◽  
Lower Limb ◽  
User Satisfaction ◽  
Small Sample ◽  
Activity Level ◽  
Activity Levels ◽  
Accelerometer Data ◽  
Lower Limb Prosthesis ◽  
Limb Prosthesis

Background: After amputation, many people become less active, feel lonely and lose independence. Understanding the factors associated with low physical activity levels and participation could contribute to defining key interventions which can support prosthesis-users so they can live a more active and socially inclusive lifestyle. This longitudinal observational study aims to measure correlations between physical activity, community participation, prosthetic fit, comfort, and user satisfaction using actimetry, 3D scans and questionnaires in a Cambodian cohort of established lower limb prosthesis-users.Methods: Twenty participants completed a questionnaire which included their demographics, community participation, prosthesis satisfaction and comfort at the start of the study. A repeat assessment was included between 3 and 6 months later. Their prosthetic sockets and residual limbs were 3D scanned at the start and end of the study. Accelerometers were embedded under the cosmesis on the shank of the prosthesis, to collect 10 weeks of activity data.Results: Participants averaged 4470 steps/day (743-7315 steps/day), and wore their prosthesis for most waking hours, averaging 13.4 hours/day (4.5-17.6 hours/day). Self-reported measures of activity and hours of wear correlated with these accelerometer data (Spearman’s rho rs = 0.59, and rs = 0.71, respectively). Participants who were more active wore their prosthesis for more hours/day (Pearson r = 0.73) and were more satisfied with socket fit (rs = 0.49). A longer residual limb correlated with better community participation (rs = 0.56) and comfort (rs = 0.56). Self-reported community participation did not correlate with a person’s activity level (rs = 0.13), or their prosthesis comfort (rs = 0.19), and there was only weak correlation between how important the activity was to an individual, and how often they participated in it (rs = 0.37). A simple 0-10 scale of comfort did not provide enough detail to understand the types and severity of discomfort experienced.Conclusion: Associations between perceived and measured activity levels correlated with socket satisfaction in the cohort of people with established lower limb amputations. The small sample size means these correlations should be used with caution, but they indicate variables worthy of further study to understand barriers to community engagement and physical activity for prosthesis-users in Cambodia.

scholarly journals A Real-Time Gait Event Detection for Lower Limb Prosthesis Control and Evaluation

2017 ◽  
Vol 25 (9) ◽  
pp. 1500-1509 ◽  
Author(s):  
H. F. Maqbool ◽  
M. A. B. Husman ◽  
M. I. Awad ◽  
A. Abouhossein ◽  
Nadeem Iqbal ◽  
...  
Keyword(s):  
Real Time ◽  
Event Detection ◽  
Lower Limb ◽  
Lower Limb Prosthesis ◽  
Prosthesis Control ◽  
Limb Prosthesis

Real-time estimation of lower limb joint angles through inverse kinematics during walking using a scaled OpenSim model

2014 ◽  
Vol 18 ◽  
pp. e142 ◽  
Author(s):  
C. Pizzolato ◽  
M. Reggiani ◽  
L. Modenese ◽  
D.G. Lloyd
Keyword(s):  
Real Time ◽  
Lower Limb ◽  
Inverse Kinematics ◽  
Time Estimation ◽  
Joint Angles ◽  
Real Time Estimation

A machine for real-time estimation of the tribological characteristics of materials

2020 ◽  
Vol 86 (4) ◽  
pp. 61-65
Author(s):  
M. V. Abramchuk ◽  
R. V. Pechenko ◽  
K. A. Nuzhdin ◽  
V. M. Musalimov
Keyword(s):  
Real Time ◽  
Time Estimation ◽  
Tribological Characteristics ◽  
Continuous Processing ◽  
Friction Machine ◽  
Dynamic Friction Coefficient ◽  
Displacement Sensors ◽  
Frictional Interaction ◽  
Real Time Estimation ◽  
Automated Quality Control

A reciprocating friction machine Tribal-T intended for automated quality control of the rubbing surfaces of tribopairs is described. The distinctive feature of the machine consists in implementation of the forced relative motion due to the frictional interaction of the rubbing surfaces fixed on the drive and conjugate platforms. Continuous processing of the signals from displacement sensors is carried out under conditions of continuous recording of mutual displacements of loaded tribopairs using classical approaches of the theory of automatic control to identify the tribological characteristics. The machine provides consistent visual real time monitoring of the parameters. The MATLAB based computer technologies are actively used in data processing. The calculated tribological characteristics of materials, i.e., the dynamic friction coefficient, damping coefficient and measure of the surface roughness, are presented. The tests revealed that a Tribal-T reciprocating friction machine is effective for real-time study of the aforementioned tribological characteristics of materials and can be used for monitoring of the condition of tribo-nodes of machines and mechanisms.

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