EMG control of a bionic knee prosthesis: Exploiting muscle co-contractions for improved locomotor function

This paper presents the development and experimental evaluation of a volitional control architecture for a powered-knee transfemoral prosthesis that affords the amputee user with direct control of knee impedance using measured electromyogram (EMG) potentials of antagonist muscles in the residual limb. The control methodology incorporates a calibration procedure performed with each donning of the prosthesis that characterizes the co-contraction levels as the user performs volitional phantom-knee flexor and extensor contractions. The performance envelope for EMG control of impedance is then automatically shaped based on the flexor and extensor calibration datasets. The result is a control architecture that is optimized to the user's current co-contraction activity, providing performance robustness to variation in sensor placement or physiological changes in the residual-limb musculature. Experimental results with a single unilateral transfemoral amputee user demonstrate consistent and repeatable control performance for level walking at self-selected speed over a multi-week, multi-session period of evaluation.

[1]  Adrian Lees,et al.  A biomechanical analysis of good and poor performers of the vertical jump , 2005, Ergonomics.

[2]  Robert Riener,et al.  Complementary limb motion estimation for the control of active knee prostheses , 2011, Biomedizinische Technik. Biomedical engineering.

[3]  Michael Goldfarb,et al.  Multiclass Real-Time Intent Recognition of a Powered Lower Limb Prosthesis , 2010, IEEE Transactions on Biomedical Engineering.

[4]  He Huang,et al.  A Strategy for Identifying Locomotion Modes Using Surface Electromyography , 2009, IEEE Transactions on Biomedical Engineering.

[5]  C. D. Hoover,et al.  Stair Ascent With a Powered Transfemoral Prosthesis Under Direct Myoelectric Control , 2013, IEEE/ASME Transactions on Mechatronics.

[6]  Kevin B. Fite,et al.  The Design and Initial Experimental Validation of an Active Myoelectric Transfemoral Prosthesis , 2012 .

[7]  H.A. Varol,et al.  Preliminary Evaluations of a Self-Contained Anthropomorphic Transfemoral Prosthesis , 2009, IEEE/ASME Transactions on Mechatronics.

[8]  N. Hogan.  Adaptive control of mechanical impedance by coactivation of antagonist muscles , 1984 .

[9]  S. Nadeau,et al.  Frontal and sagittal plane analyses of the stair climbing task in healthy adults aged over 40 years: what are the challenges compared to level walking? , 2003, Clinical biomechanics.

[10]  Hugh Herr,et al.  Agonist-antagonist active knee prosthesis: a preliminary study in level-ground walking. , 2009, Journal of rehabilitation research and development.

[11]  Chris Titley.  We have the technology , 2009 .

[12]  Michael Goldfarb,et al.  Upslope Walking With a Powered Knee and Ankle Prosthesis: Initial Results With an Amputee Subject , 2011, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[13]  W C Flowers,et al.  Stance phase control of above-knee prostheses: knee control versus SACH foot design. , 1987, Journal of biomechanics.

[14]  G. Horn.  Electro-control: am EMG-controlled A/K prosthesis , 2006, Medical and biological engineering.

[15]  E. Bizzi,et al.  Mechanisms underlying achievement of final head position. , 1976, Journal of neurophysiology.

[16]  P. Mukhopadhyay,et al.  E.M.G. operated electronic artificial-leg controller , 2006, Medical and Biological Engineering and Computing.

[17]  R. Riener,et al.  Joint powers in stair climbing at different slopes , 1999, Proceedings of the First Joint BMES/EMBS Conference. 1999 IEEE Engineering in Medicine and Biology 21st Annual Conference and the 1999 Annual Fall Meeting of the Biomedical Engineering Society (Cat. N.

[18]  G Van der Perre,et al.  Development of EMG-based mode and intent recognition algorithms for a computer-controlled above-knee prosthesis. , 1990, Journal of biomedical engineering.

[19]  E. Bizzi,et al.  Effect of load disturbances during centrally initiated movements. , 1978, Journal of neurophysiology.

[20]  Andrea N. Lay,et al.  The effects of sloped surfaces on locomotion: an electromyographic analysis. , 2007, Journal of biomechanics.

[21]  B. J. Mcfayden.  An Integrated Biomechanical Analysis of Normal Stair Ascent and Descent , 1988 .

[22]  Wim G. M. Janssen,et al.  Determinants of the sit-to-stand movement: a review. , 2002, Physical therapy.

[23]  Donald Lee Grimes.  An active multi-mode above knee prosthesis controller , 1979 .

[24]  Dejan B. Popovic,et al.  Control Aspects of Active Above-Knee Prosthesis , 1991, Int. J. Man Mach. Stud..

[25]  Robert Gailey,et al.  Advances in lower-limb prosthetic technology. , 2010, Physical medicine and rehabilitation clinics of North America.

[26]  M. Donath.  Proportional EMG control for above knee pros-theses. , 1974 .

[27]  J. Bussmann,et al.  Sensitivity of Accelerometry to Assess Balance Control During Sit-to-Stand Movement , 2008, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[28]  Michael Goldfarb,et al.  Volitional Control of a Prosthetic Knee Using Surface Electromyography , 2011, IEEE Transactions on Biomedical Engineering.