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Full-Text Articles in Biomedical Engineering and Bioengineering
Neuromuscular Reflex Control For Prostheses And Exoskeletons, Sandra K. Hnat
Neuromuscular Reflex Control For Prostheses And Exoskeletons, Sandra K. Hnat
ETD Archive
Recent powered lower-limb prosthetic and orthotic (P/O) devices aim to restore legged mobility for persons with an amputation or spinal cord injury. Though various control strategies have been proposed for these devices, specifically finite-state impedance controllers, natural gait mechanics are not usually achieved. The goal of this project was to invent a biologically-inspired controller for powered P/O devices. We hypothesize that a more muscle-like actuation system, including spinal reflexes and vestibular feedback, can achieve able-bodied walking and also respond to outside perturbations. The outputs of the Virtual Muscle Reflex (VMR) controller are joint torque commands, sent to the electric motors …
Predictive Simulations Of Gait And Their Application In Prosthesis Design, Anne D. Koelewijin
Predictive Simulations Of Gait And Their Application In Prosthesis Design, Anne D. Koelewijin
ETD Archive
Predictive simulations predict human gait by solving a trajectory optimization problem by minimizing energy expenditure. These simulations could predict the effect of a prosthesis on gait before its use. This dissertation has four aims, to show the application of predictive simulations in prosthesis design and to improve the quality of predictive simulations. Aim 1 was to explain joint moment asymmetry in the knee and hip in gait of persons with a transtibial amputation (TTA gait). Predictive simulations showed that an asymmetric gait required less effort. However, a small effort increase yielded a gait with increased joint moment symmetry and reduced …