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... prostheses), above-knee amputees often compensate for the loss of function in both the knee and the ankle by regulating the transferred energy via the residual limb. This is acceptable during most level-ground walking phases and while descending stairs, as the net energy required from the knee is negative and needs to be absorbed [9]. Fig. 1 has been drawn based on the data in [9] and shows the normalized energy required for activities of daily living (ADLs). Negative energy means that energy needs to be damped and absorbed while positive energy will require power actuators to deliver this energy. This explains why most transfemoral amputees can descend stairs and perform ...
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... the finite state machine to take a decision on the current gait state based on the sensors inputs from different modules such as analog to digital converter (ADC) and IMU. To maximize the embedded system and computational efficiency, the whole system was made interrupt-driven with the embedded system with finite machine control loop as shown in Fig. 10. Further experiments and testing on the proposed system will be carried out in our future ...
Citations
... The impedances in the standing and swinging stages need to be preset manually by the adjustable hydraulic valve. Other devices, such as C-Leg 4 (Ottobock, Germany) ( Figure 4a), Quattro (Proteor, France), Genium X3 (Ottobock, Germany), Orion3 (Blatchford, UK), adjust hydraulic motor valves on the fluid path through microprocessors, which can not only realize switching between stance and swing phase, but also adaptively change the damping of the knee [63,64,[66][67][68][69][70][71]. Another approach is to actively control the damping through a magnetorheological (MR) clutch, such as the Rheo Knee (Ossur, Iceland) and its advanced, more responsive and stable version Rheo Knee XC (Ossur, Iceland) [72,73]. ...
Introduction: Actuated lower limb prostheses, including powered (active) and semi-active (quasi-passive) joints, are endowed with controllable power and/or impedance, which can be advantageous to limb impairment individuals by improving locomotion mechanics and reducing the overall metabolic cost of ambulation. However, an increasing number of commercial and research-focused options have made navigating this field a daunting task for users, researchers, clinicians, and professionals.
Areas covered: The present paper provides an overview of the latest trends and developments in the field of actuated lower-limb prostheses and corresponding technologies. Following a gentle summary of essential gait features, we introduce and compare various actuated prosthetic solutions in academia and the market designed to provide assistance at different levels of impairments. Correspondingly, we offer insights into the latest developments of sockets and suspension systems, before finally discussing the established and emerging trends in surgical approaches aimed at improving prosthetic experience through enhanced physical and neural interfaces.
Expert opinion: The ongoing challenges and future research opportunities in the field are summarized for exploring potential avenues for development of next generation of actuated lower limb prostheses. In our opinions, a closer multidisciplinary integration can be found in the field of actuated lower-limb prostheses in the future.
