Upslope Walking with Transfemoral Prosthesis Using Optimization Based Spline Generation

Powered prosthetic devices are robotic systems that are aimed to restore the mobility of subjects with amputations above the knee by imitating the behavior of a normal human leg. Powered prostheses have diverse advantages compared to passive devices, including the possibility of reducing the metabolic cost of the user, providing net power into the walking gait and walking on diverse terrain. In particular, this thesis is focused on the capacity of powered transfemoral prostheses to adapt to diverse terrains. Since most terrains consist of flat and inclined surfaces, it is important that a transfemoral prosthesis can walk on these surfaces and have the capacity to seamlessly transition from one surface to another. However, currently available controllers require either intention recognition procedures that delay the terrain transition or a collection of parameters that require a large tuning process for each possible surface profile. In this thesis, we propose a framework that can generate automatically stable and human-like gaits for both surfaces with immediate transition between them. The new framework is based on human-inspired control and a spline-based trajectory generation. Specifically, the proposed method i) inserts a set of cubic splines that smoothly blend the flat ground joint trajectories into arbitrary upslope surface joint trajectories for the ankle and knee joints and ii) employs a low gain PD control for terrain adaptation for various unknown surfaces. This framework is implemented on the powered transfemoral prosthetic device, AMPRO II, for both flat ground and upslope walking to test its use as a nominal controller. The experimental results confirm that the proposed framework provides walking gaits for flat ground and upslope with seamlessly smooth transitioning gaits between them

Optimal Design and Control of a Lower-Limb Prosthesis with Energy Regeneration

The majority of amputations are of the lower limbs. This correlates to a particular need for lower-limb prostheses. Many common prosthesis designs are passive in nature, making them inefficient compared to the natural body. Recently as technology has progressed, interest in powered prostheses has expanded, seeking improved kinematics and kinetics for amputees. The current state of this art is described in this thesis, noting that most powered prosthesis designs do not consider integrating the knee and the ankle or energy exchange between these two joints. An energy regenerative, motorized prosthesis is proposed here to address this gap. After preliminary data processing is discussed, three steps toward the realization of such a system are completed. First, the design, optimization, and evaluation of a knee joint actuator are presented. The final result is found to be consistently capable of energy regeneration across a single stride simulation. Secondly, because of the need for a prosthesis simulation structure mimicking the human system, a novel ground contact model in two dimensions is proposed. The contact model is validated against human reference data. Lastly, within simulation a control method combining two previously published prosthesis controllers is designed, optimized, and evaluated. Accurate tracking across all joints and ground reaction forces are generated, and the knee joint is shown to have human-like energy absorption characteristics. The successful completion of these three steps contributes toward the realization of an optimal combined knee-ankle prosthesis with energy regeneratio

Optimal Design and Control of a Lower-Limb Prosthesis with Energy Regeneration

The majority of amputations are of the lower limbs. This correlates to a particular need for lower-limb prostheses. Many common prosthesis designs are passive in nature, making them inefficient compared to the natural body. Recently as technology has progressed, interest in powered prostheses has expanded, seeking improved kinematics and kinetics for amputees. The current state of this art is described in this thesis, noting that most powered prosthesis designs do not consider integrating the knee and the ankle or energy exchange between these two joints. An energy regenerative, motorized prosthesis is proposed here to address this gap. After preliminary data processing is discussed, three steps toward the realization of such a system are completed. First, the design, optimization, and evaluation of a knee joint actuator are presented. The final result is found to be consistently capable of energy regeneration across a single stride simulation. Secondly, because of the need for a prosthesis simulation structure mimicking the human system, a novel ground contact model in two dimensions is proposed. The contact model is validated against human reference data. Lastly, within simulation a control method combining two previously published prosthesis controllers is designed, optimized, and evaluated. Accurate tracking across all joints and ground reaction forces are generated, and the knee joint is shown to have human-like energy absorption characteristics. The successful completion of these three steps contributes toward the realization of an optimal combined knee-ankle prosthesis with energy regeneratio

Design of a Lightweight Modular Powered Transfemoral Prosthesis

Rehabilitation options for transfemoral amputees are limited, and no product today can mimic the full functionality of a human limb. Powered prosthetics have potential to close this gap but contain major drawbacks which ultimately increase the energy expenditure of the user. This thesis explores the viability of new designs and methods to reduce energy expenditure. In doing so a prototype containing many of the explored concepts is also being constructed to replace the laboratory’s current powered prosthetic, AMPRO II. This goal is accomplished by reducing weight through optimizing structural components, using lightweight motors and gearing, and reducing the energy requirements through novel passive spring sub-assemblies. Adjustable and modular components also enable a wider range of use and are explored. The main objective of this thesis is to investigate these design improvements and create the next-generation prosthetic for the Human Rehabilitation Lab. This thesis explores using a combination of passive and powered components to reduce the need for heavy actuators. Methods involve coding walking simulations based on an inverse dynamics study. By simulating design concepts with elastic elements the resulting power requirements of the motors have been estimated to evaluate each concept. Motors and gearing options have also been investigated with an optimization-based approach; gearing ratio was minimized in a test comparing discrete off-the-shelf motor options to biomechanical requirements. For the structural components, the mass of each part has been minimized through an iterative approach in FEA. Elements selected for further investigation from this thesis are being constructed with a prototype. Improvements over AMPRO II include adjustable height, functionality on both legs, a flexible foot, modularity, capabilities of passive elastic elements, and a mass estimated to be 20% lighter. Components include flat motors with harmonic drives, adjustable pylons for height, a low-profile mounting frame, passive pre-loaded springs, and a rotary series elastic actuator (RSEA). Unproven concepts such as the springs and RSEA have been designed as modular and optional to reduce risk. Moving forward, the first prototype is currently being built without the optional components to test the biomechanics. Future tests will incorporate the designed elastic elements to validate simulation concepts

Optimal Design and Control of a Lower-Limb Prosthesis with Energy Regeneration

The majority of amputations are of the lower limbs. This correlates to a particular need for lower-limb prostheses. Many common prosthesis designs are passive in nature, making them inefficient compared to the natural body. Recently as technology has progressed, interest in powered prostheses has expanded, seeking improved kinematics and kinetics for amputees. The current state of this art is described in this thesis, noting that most powered prosthesis designs do not consider integrating the knee and the ankle or energy exchange between these two joints. An energy regenerative, motorized prosthesis is proposed here to address this gap. After preliminary data processing is discussed, three steps toward the realization of such a system are completed. First, the design, optimization, and evaluation of a knee joint actuator are presented. The final result is found to be consistently capable of energy regeneration across a single stride simulation. Secondly, because of the need for a prosthesis simulation structure mimicking the human system, a novel ground contact model in two dimensions is proposed. The contact model is validated against human reference data. Lastly, within simulation a control method combining two previously published prosthesis controllers is designed, optimized, and evaluated. Accurate tracking across all joints and ground reaction forces are generated, and the knee joint is shown to have human-like energy absorption characteristics. The successful completion of these three steps contributes toward the realization of an optimal combined knee-ankle prosthesis with energy regeneratio

Design of a Lightweight Modular Powered Transfemoral Prosthesis

Rehabilitation options for transfemoral amputees are limited, and no product today can mimic the full functionality of a human limb. Powered prosthetics have potential to close this gap but contain major drawbacks which ultimately increase the energy expenditure of the user. This thesis explores the viability of new designs and methods to reduce energy expenditure. In doing so a prototype containing many of the explored concepts is also being constructed to replace the laboratory’s current powered prosthetic, AMPRO II. This goal is accomplished by reducing weight through optimizing structural components, using lightweight motors and gearing, and reducing the energy requirements through novel passive spring sub-assemblies. Adjustable and modular components also enable a wider range of use and are explored. The main objective of this thesis is to investigate these design improvements and create the next-generation prosthetic for the Human Rehabilitation Lab. This thesis explores using a combination of passive and powered components to reduce the need for heavy actuators. Methods involve coding walking simulations based on an inverse dynamics study. By simulating design concepts with elastic elements the resulting power requirements of the motors have been estimated to evaluate each concept. Motors and gearing options have also been investigated with an optimization-based approach; gearing ratio was minimized in a test comparing discrete off-the-shelf motor options to biomechanical requirements. For the structural components, the mass of each part has been minimized through an iterative approach in FEA. Elements selected for further investigation from this thesis are being constructed with a prototype. Improvements over AMPRO II include adjustable height, functionality on both legs, a flexible foot, modularity, capabilities of passive elastic elements, and a mass estimated to be 20% lighter. Components include flat motors with harmonic drives, adjustable pylons for height, a low-profile mounting frame, passive pre-loaded springs, and a rotary series elastic actuator (RSEA). Unproven concepts such as the springs and RSEA have been designed as modular and optional to reduce risk. Moving forward, the first prototype is currently being built without the optional components to test the biomechanics. Future tests will incorporate the designed elastic elements to validate simulation concepts

Sensor Fusion Representation of Locomotion Biomechanics with Applications in the Control of Lower Limb Prostheses

Free locomotion and movement in diverse environments are significant concerns for individuals with amputation who need independence in daily living activities. As users perform community ambulation, they face changing contexts that challenge what the typical passive prosthesis can offer. This problem rises opportunities for developing intelligent robotic systems that assist the locomotion with the least possible interruptions for direct input during operation. The use of multiple sensors to detect the user's intent and locomotion parameters is a promising technique that could provide a fast and natural response to the prostheses. However, the use of these sensors still requires a thorough investigation before they can be translated into practical settings. In addition, the dynamic change of context during locomotion should translate to adjustment in the device's response. To achieve the scaling rules for this modulation, a rich biomechanics dataset of community ambulation would provide a source of quantitative criteria to generate bioinspired controllers. This dissertation produces a better understanding of the characteristics of community ambulation from two different perspectives: the biomechanics of human motion and the sensory signals that can be captured by wearable technology. By studying human locomotion in diverse environments, including walking on stairs, ramps, and level ground, this work generated a comprehensive open-source dataset containing the biomechanics and signals from wearable sensors during locomotion, evaluating the effects of changing the locomotion context within the ambulation mode. With the multimodal dataset, I developed and evaluated a combined strategy for ambulation mode classification and the estimation of locomotion parameters, including the walking speed, stair height, ramp slope, and biological moment. Finally, by combining this knowledge and incorporating both the biomechanics insight with the machine learning-based inference in the frame of impedance control, I propose novel methods to improve the performance of lower-limb robotics with a focus on powered prostheses.Ph.D