Volitional EMG Control Enables Stair Climbing with a Robotic Powered Knee Prosthesis.

ABSTRACT: Existing controllers for robotic powered prostheses regulate the prosthesis speed, timing, and energy generation using predefined position or torque trajectories. This approach enables climbing stairs step-over-step. However, it does not provide amputees with direct volitional control of the robotic prosthesis, a functionality necessary to restore full mobility to the user. Here we show that proportional electromyographic (EMG) control of the prosthesis knee torque enables volitional control of a powered knee prosthesis during stair climbing. The proposed EMG controller continuously regulates knee torque based on activation of the residual hamstrings, measured using a single EMG electrode located within the socket. The EMG signal is mapped to a desired knee flexion/extension torque based o

SUBMITTER: Creveling S 

PROVIDER: S-EPMC10985630 | biostudies-literature | 2023 Oct

REPOSITORIES: biostudies-literature