Design of EMG-driven Musculoskeletal Model for Volitional Control of a Robotic Ankle Prosthesis [PDF]
arXiv, 2022 Existing robotic lower-limb prostheses use autonomous control to address cyclic, locomotive tasks, but they are inadequate to operate the prosthesis for daily activities that are non-cyclic and unpredictable. To address this challenge, this study aims to design a novel electromyography (EMG)-driven musculoskeletal model for volitional control of a ...
arxiv
Towards Expedited Impedance Tuning of a Robotic Prosthesis for Personalized Gait Assistance by Reinforcement Learning Control [PDF]
IEEE Transactions on Robotics, 2021, 2020 Personalizing medical devices such as lower limb wearable robots is challenging. While the initial feasibility of automating the process of knee prosthesis control parameter tuning has been demonstrated in a principled way, the next critical issue is to improve tuning efficiency and speed it up for the human user, in clinic settings, while maintaining ...
arxiv +1 more source
ESPOCH Congresses, 2021 The objective was to build a prosthesis with its elements such as socket, forearm and hand. The prostheses that are below the elbow generated the motivation for the investigation, being an important factor the correct adaptation of the socket to the ...
E. Pozo, E. Medina, A. Pazmiño
doaj +1 more source
Integrated and Lightweight Design of Electro-hydraulic Ankle Prosthesis [PDF]
arXiv, 2023 For lower limb amputees, an active ankle joint prosthesis can provide basic mobility functions. This study focuses on an ankle joint prosthesis system based on the principle of electric-hydraulic actuation. By analyzing the characteristics of human gait cycles and the mechanics of ankle joint movement, a lightweight and integrated ankle joint ...
arxiv
Personalized On-line Adaptation of Kinematic Synergies for Human-Prosthesis Interfaces [PDF]
IEEE Trans. Cybern. (2019) 1-15, 2019 Synergies have been adopted in prosthetic limb applications to reduce complexity of design, but typically involve a single synergy setting for a population and ignore individual preference or adaptation capacity. However, personalization of the synergy setting is necessary for the effective operation of the prosthetic device.
arxiv +1 more source
Robotic Knee Tracking Control to Mimic the Intact Human Knee Profile Based on Actor-critic Reinforcement Learning [PDF]
, 2021 We address a state-of-the-art reinforcement learning (RL) control approach to automatically configure robotic prosthesis impedance parameters to enable end-to-end, continuous locomotion intended for transfemoral amputee subjects. Specifically, our actor-critic based RL provides tracking control of a robotic knee prosthesis to mimic the intact knee ...
arxiv +1 more source
Osseointegrated prostheses for rehabilitation following amputation : The pioneering Swedish model. [PDF]
, 2017 The direct attachment of osseointegrated (OI) prostheses to the skeleton avoids the inherent problems of socket suspension. It also provides physiological weight bearing, improved range of motion in the proximal joint, as well as osseoperceptive sensory ...
Brånemark, Rickard, Li, Yan
core +1 more source
Sensorimotor-inspired Tactile Feedback and Control Improve Consistency of Prosthesis Manipulation in the Absence of Direct Vision [PDF]
, 2021 The lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, able-bodied individuals inherently rely on conscious haptic perception and automatic tactile reflexes to govern volitional actions in situations that do not allow for constant visual attention.
arxiv +1 more source
Design of a 3D-printed hand prosthesis featuring articulated bio-inspired fingers
Proceedings of the Institution of mechanical engineers. Part H, journal of engineering in medicine, 2020 Various upper-limb prostheses have been designed for 3D printing but only a few of them are based on bio-inspired design principles and many anatomical details are not typically incorporated even though 3D printing offers advantages that facilitate the ...
Juan Sebastian Cuellar +4 more
semanticscholar +1 more source
Intraoral framework pick-up technique to improve fit of a metal-resin implant prosthesis
Indian Journal of Dental Research, 2012 The achievement of passive fit is an important prerequisite for the prevention of complications in full-arch screw-retained implant prosthesis. With cemented prosthesis, the cementation compensates for the discrepancies in the cast framework, but the ...
Mirza Rustum Baig, Rajan Gunaseelan
doaj +1 more source