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Within-Socket Myoelectric Prediction Of Continuous Ankle Kinematics For Control Of A Powered Transtibial Prosthesis, Samuel Farmer, M. Barbara Silver-Thorn, Philip A. Voglewede, Scott A. Beardsley

Biomedical Engineering Faculty Research and Publications

Objective. Powered robotic prostheses create a need for natural-feeling user interfaces and robust control schemes. Here, we examined the ability of a nonlinear autoregressive model to continuously map the kinematics of a transtibial prosthesis and electromyographic (EMG) activity recorded within socket to the future estimates of the prosthetic ankle angle in three transtibial amputees. Approach. Model performance was examined across subjects during level treadmill ambulation as a function of the size of the EMG sampling window and the temporal 'prediction' interval between the EMG/kinematic input and the model's estimate of future ankle angle to characterize the trade-off between model error, …