Design and Control of a Powered Transfemoral Prosthesis

Engineering platform and experimental protocol for design and evaluation of a neurally-controlled powered transfemoral prosthesis.

To enable intuitive operation of powered artificial legs, an interface between user and prosthesis that can recognize the user's movement intent is desired. A novel neural-machine interface (NMI) based on neuromuscular-mechanical fusion developed in our previous study has demonstrated a great potential to accurately identify the intended movement of transfemoral amputees. However, this interfac...

FINITE STATE IMPEDANCE-BASED CONTROL OF A POWERED TRANSFEMORAL PROSTHESIS By AMIT BOHARA

Mechanical Engineering Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees

This dissertation describes the development and testing of control systems for powered transfemoral prostheses. The work is divided into seven chapters, with five distinct contributions. Chapter I provides introductory material, background, and some of the theoretical motivations behind the work. In Chapter II, a finite statebased locally passive impedance controller is described based on previ...

14-0015_CYBERLEGs - A User-Oriented Robotic Prosthesis with Whole Body Awareness Control.dvi

Restoring the mobility of transfemoral dysvascular amputees is essential to their rehabilitation process. Impeding this, exhaustion is often the cause of non-effective deambulation of elderly lower-limb amputees using a prosthesis as they use more energy for locomotion than younger amputees do. This article presents finite state control of a novel powered prosthesis prototype for transfemoral a...

Impact of Powered Knee-Ankle Prosthesis on Low Back Muscle Mechanics in Transfemoral Amputees: A Case Series

Regular use of prostheses is critical for individuals with lower limb amputations to achieve everyday mobility, maintain physical and physiological health, and achieve a better quality of life. Use of prostheses is influenced by numerous factors, with prosthetic design playing a critical role in facilitating mobility for an amputee. Thus, prostheses design can either promote biomechanically eff...