Gait Event Detection with Proprioceptive Force Sensing in a Powered Knee-Ankle Prosthesis: Validation over Walking Speeds and Slopes
Gait Event Detection with Proprioceptive Force Sensing in a Powered Knee-Ankle Prosthesis: Validation over Walking Speeds and Slopes
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DOI：
10.1109/icra48891.2023.10161102
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发表时间：
2023-05
期刊：
影响因子：
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通讯作者：
Emily G. Keller;Curt A. Laubscher;R. Gregg
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文献类型：
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作者：
Emily G. Keller;Curt A. Laubscher;R. Gregg
许多动力假肢装置使用测压元件来检测地面相互作用力和步态事件。这些传感器在设备中引入了额外的重量和成本。最近的本体感受致动器使致动器扭矩和地面接触力之间的代数关系。本文提出了一种本体感受力传感的范例，估计地面反作用力作为解决方案，以检测步态事件，没有一个负载单元。建立了浮体动力学模型，并在压力中心引入了脚-地相互作用的约束条件。约束力的推导估计地面反作用力和随后的步态事件的时间。一个跑步机实验进行与动力膝踝关节假体所使用的健全的受试者在不同的速度和坡度行走。结果显示了准确的步态事件计时，与测力传感器获得的值相比，汇总数据显示脚跟着地检测仅滞后6.7 ± 7.2 ms，脚趾离地检测领先30.4 ± 11.0 ms。这些结果建立了预测步态事件的概念验证，而无需在具有本体感受致动器的动力假体中使用测压元件。
Many powered prosthetic devices use load cells to detect ground interaction forces and gait events. These sensors introduce additional weight and cost in the device. Recent proprioceptive actuators enable an algebraic relationship between actuator torques and ground contact forces. This paper presents a proprioceptive force sensing paradigm which estimates ground reaction forces as a solution to detect gait events without a load cell. A floating body dynamic model is obtained with constraints at the center of pressure representing foot-ground interaction. Constraint forces are derived to estimate ground reaction forces and subsequently timing of gait events. A treadmill experiment is conducted with a powered knee-ankle prosthesis used by an able-bodied subject walking at various speeds and slopes. Results show accurate gait event timing, with pooled data showing heel strike detection lagging by only 6.7 ± 7.2 ms and toe off detection leading by 30.4 ± 11.0 ms compared to values obtained from the load cell. These results establish proof of concept for predicting gait events without a load cell in powered prostheses with proprioceptive actuators.