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Biomedical Engineering / Biomedizinische Technik

Joint Journal of the German Society for Biomedical Engineering in VDE and the Austrian and Swiss Societies for Biomedical Engineering and the German Society of Biomaterials

Editor-in-Chief: Dössel, Olaf

Editorial Board: Augat, Peter / Habibović, Pamela / Haueisen, Jens / Jahnen-Dechent, Wilhelm / Jockenhoevel, Stefan / Knaup-Gregori, Petra / Lenarz, Thomas / Leonhardt, Steffen / Plank, Gernot / Radermacher, Klaus M. / Schkommodau, Erik / Stieglitz, Thomas / Boenick, Ulrich / Jaramaz, Branislav / Kraft, Marc / Lenthe, Harry / Lo, Benny / Mainardi, Luca / Micera, Silvestro / Penzel, Thomas / Robitzki, Andrea A. / Schaeffter, Tobias / Snedeker, Jess G. / Sörnmo, Leif / Sugano, Nobuhiko / Werner, Jürgen /

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IMPACT FACTOR 2016: 0.915
5-year IMPACT FACTOR: 1.263

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1862-278X
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Volume 56, Issue 1

Issues

Volume 57 (2012)

Complementary limb motion estimation for the control of active knee prostheses

Heike Vallery
  • Sensory-Motor Systems Lab, Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Switzerland and Spinal Cord Injury Center, Medical Faculty, Balgrist University Hospital, Zurich, Switzerland
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  • Other articles by this author:
  • De Gruyter OnlineGoogle Scholar
/ Rainer Burgkart
  • Klinik für Orthopädie und Unfallchirurgie, Klinikum r.d. Isar, Technische Universität München, München, Germany
  • Other articles by this author:
  • De Gruyter OnlineGoogle Scholar
/ Cornelia Hartmann / Jürgen Mitternacht
  • Klinik für Orthopädie und Unfallchirurgie, Klinikum r.d. Isar, Technische Universität München, München, Germany
  • Other articles by this author:
  • De Gruyter OnlineGoogle Scholar
/ Robert Riener
  • Sensory-Motor Systems Lab, Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Switzerland and Spinal Cord Injury Center, Medical Faculty, Balgrist University Hospital, Zurich, Switzerland
  • Other articles by this author:
  • De Gruyter OnlineGoogle Scholar
/ Martin Buss
  • Institute of Automatic Control Engineering, Technische Universität München, München, Germany
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Published Online: 2011-02-08 | DOI: https://doi.org/10.1515/bmt.2010.057

Abstract

To restore walking after transfemoral amputation, various actuated exoprostheses have been developed, which control the knee torque actively or via variable damping. In both cases, an important issue is to find the appropriate control that enables user-dominated gait. Recently, we suggested a generic method to deduce intended motion of impaired or amputated limbs from residual human body motion. Based on interjoint coordination in physiological gait, statistical regression is used to estimate missing motion. In a pilot study, this complementary limb motion estimation (CLME) strategy is applied to control an active knee exoprosthesis. A motor-driven prosthetic knee with one degree of freedom has been realized, and one above-knee amputee has used it with CLME. Performed tasks are walking on a treadmill and alternating stair ascent and descent. The subject was able to walk on the treadmill at varying speeds, but needed assistance with the stairs, especially to descend. The promising results with CLME are compared with the subject's performance with her own prosthesis, the C-Leg from Otto Bock.

Keywords: active prostheses; intention estimation; user-cooperative control

About the article

Corresponding author: Heike Vallery, Sensory-Motor Systems Lab, Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Switzerland and Spinal Cord Injury Center, Medical Faculty, Balgrist University Hospital, Zurich, Switzerland Phone: +41-44-632-4270 Fax: +41-44-632-1876


Published Online: 2011-02-08

Published in Print: 2011-02-01


Citation Information: Biomedizinische Technik/Biomedical Engineering, Volume 56, Issue 1, Pages 45–51, ISSN (Online) 1862-278X, ISSN (Print) 0013-5585, DOI: https://doi.org/10.1515/bmt.2010.057.

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