Intuitive Control of a Hybrid Prosthetic Leg During Ambulation

混合假肢在行走过程中的直观控制

• 批准号: 9789362
• 负责人: Levi John Hargrove
• 金额: $ 62.44万
• 依托单位: REHABILITATION INSTITUTE OF CHICAGO D/B/A SHIRLEY RYAN ABILITYLAB
• 依托单位国家: 美国
• 财政年份: 2014
• 资助国家: 美国
• 起止时间: 2014-09-06 至 2023-06-30
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/9789362
• 关键词: Accelerometer; Algorithms; American; Amputation; Amputees; Ankle; Architecture; Artificial Leg; Award; Biomechanics; Car Phone; Cellular Phone; Classification; Clinic; Clinical; Communities; Community Participation; Custom; Data; Data Set; Development; Devices; Employment; Enrollment; Environment; Funding; Gait; Goals; Home environment; Hybrids; Individual; Intuition; Knee; Knee Prosthesis; Laboratories; Learning; Leg; Leisures; Lower Extremity; Manuals; Monitor; Motor; Outcome; Participant; Patients; Pattern Recognition; Phase; Prosthesis; Protocols documentation; Quality of life; Ramp; Randomized; Randomized Clinical Trials; Research; Safety; Signal Transduction; System; Technology; Testing; Torque; Training; Walking; Work; base; design; experience; falls; foot; improved; improved mobility; innovation; light weight; limb amputation; mobile application; novel; powered prosthesis; prosthesis control; psychologic; secondary outcome; sensor; transmission process; week trial

Project Summary/Abstract Most individuals with lower limb amputations use passive prostheses, which do not provide energy to assist with activities such as stair or ramp ascent or sit-to-stand transitions. This limits mobility, in particular for those with above-knee amputations. Powered leg prostheses could improve the mobility and community participation of such individuals; however, these devices are heavy, and current control systems require the user to manually transition between different ambulation activities, which is cumbersome. With prior R01 funding, we developed an adaptive, hierarchical pattern recognition control system that uses data from sensors on the prosthesis, and incorporates electromyographic (EMG) signals from the user, depending on their reliability, to determine user intent and enable safe prosthesis control with automatic, seamless transitions between ambulation activities. A mobile application allows for rapid tuning of the prosthesis and enables the user to choose between manual or automatic transitions. With other funding, we developed a novel prosthetic leg that can operate in passive mode —during level-ground walking or in active mode—during activities such as stair climbing or sit-to-stand transitions. This approach enables smaller, lighter motors, transmissions, and batteries, making our Hybrid Leg significantly lighter and quieter than other powered devices. Our long-term objective is to develop clinically viable technologies to improve the quality of life for lower limb amputees. A lightweight powered prosthesis with a safe, intuitive control system may increase mobility—facilitating employment, leisure, and community participation activities—and reduce the physical and psychological consequences of low activity. We will compare the Hybrid Leg with subjects' passive devices in both in-lab and home environments. In Aim 1, we will transition our adaptive control system to the Hybrid Leg, train users to walk with this device while the experimenter manually transitions the device between activity modes, and collect sensor data and EMG signals to create a user-specific pattern recognition control system. We will then determine the classification accuracy of this system. Aims 2 and 3 together constitute a randomized clinical trial, with AB-BA design, comparing the Hybrid leg with subjects' own passive devices. In Aim 2, we will provide advanced community-mobility training for either the subject's passive leg or the Hybrid leg, in random order, to meet both subject-specific and general activity goals necessary for community ambulation, and complete a full biomechanical assessment of ambulation activities such as stair or ramp ascent/descent and sit-to-stand transitions with that leg. In Aim 3, subjects will use the same leg for 4 weeks in their home and community, where activity and community participation will be monitored by a custom smartphone–based app. We will compare the number of steps taken and number of transitions between activities for each device. We expect that the control system will be safe, with a low classification error rate and without errors that may cause a fall. In addition, we hypothesize that, using the Hybrid leg, subjects will ambulate more and transition between activities more frequently, with biomechanics more similar to those of non-amputees.

项目摘要/摘要 大多数有下肢截肢的人都使用被动假体，这些假体不能提供能量来协助 诸如楼梯或坡道上升或静坐过渡之类的活动。这限制了移动性，特别是对于 膝盖上的截肢。动力的腿假肢可以改善移动性和社区参与 这样的人；但是，这些设备很重，当前的控制系统要求用户手动 不同野蛮活动之间的过渡，这很麻烦。有了先前的R01资金，我们开发了 一种自适应，层次模式识别控制系统，该系统使用来自假体传感器的数据，以及 根据用户的可靠性，合并了用户的肌电图（EMG）信号，以确定用户 意图并实现安全的假体控制，并在戒备活动之间进行自动，无缝的过渡。一个 移动应用程序允许快速调整假体，并使用户可以在手册或 自动过渡。有了其他资金，我们开发了一个新颖的假肢，可以在被动模式下运行 - 在地面步行或处于活动模式下 - 堆叠或静止不动的活动 过渡。这种方法使较小，更轻的电动机，变速箱和电池使我们的混合腿 比其他动力设备更轻，更安静。我们的长期目标是开发临床上可行的 改善下肢截肢者生活质量的技术。轻巧的假体，安全，安全 直观控制系统可能会增加移动性 - 促进员工，休闲和社区参与 活动 - 减少低活动的身体和心理后果。我们将比较混合动力 腿在单行内和家庭环境中都具有主题的被动设备。在AIM 1中，我们将过渡我们的适应性 到混合腿的控制系统，训练用户在专家手册过渡时使用该设备行走 活动模式之间的设备，并收集传感器数据和EMG信号以创建特定于用户的模式 识别控制系统。然后，我们将确定该系统的分类精度。目标2和3 共同构成了一项随机临床试验，并具有AB-BA设计，将混合腿与受试者自己进行比较 被动设备。在AIM 2中，我们将为受试者的被动提供高级社区运动培训 腿部或混合腿以随机顺序达到特定于主题和一般活动目标所必需的 社区救护车，并完成对救护车活动的完整生物力学评估，例如楼梯或 坡道上升/下降和与该腿的静坐过渡。在AIM 3中，受试者将使用同一条腿4 在他们的家庭和社区中的几周，活动和社区参与将通过习惯监视 基于智能手机的应用。我们将比较活动之间的步骤数量和过渡次数 对于每个设备。我们预计控制系统将是安全的，分类错误率低，没有 可能导致跌倒的错误。此外，我们假设使用混合腿，受试者将使更多行动 和活动之间的过渡更加频繁，生物力学与非抑制剂的过渡更相似。