CYBERLEGs: A User-Oriented Robotic Transfemoral Prosthesis with Whole-Body Awareness Control


Restoring the mobility of transfemoral dysvascular amputees is important to their rehabilitation method. Impeding the restoration of mobility, exhaustion is typically the cause of noneffective deambulation of elderly lowerlimb amputees employing a prosthesis as they use more energy for locomotion than younger amputees do. This text presents finite-state control of a unique powered prosthesis prototype for transfemoral amputees primarily based on whole-body awareness. Intention detection was implemented through a noninvasive, distributed wireless wearable sensory system. The cybernetic lower-limb cognitive orthoprosthesis (CYBERLEGs) system was evaluated during a study involving three amputees. The subjects were able to walk with the prosthesis while not coaching, showing accurate performance of the intention detection. The functionality of the CYBERLEGs approach was confirmed by gait pattern analysis and intention detection statistics.

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