Design and Fabrication of a Six Degree-of-Freedom Open Source Hand
Currently, most externally powered prostheses are controlled using electromyography (or EMG), which is the measure of the electrical signals that are produced when voluntary muscle is contracted. One of the major problems is that there are a limited number of muscular control sites that can be used, which limits the complexity of the hands that are controllable.
Coordination of Reach-to-Grasp Kinematics in Individuals With Childhood-Onset Dystonia Due to Hemiplegic Cerebral Palsy
Functional reaching is impaired in dystonia. Here, we analyze upper extremity kinematics to quantify timing and coordination abnormalities during unimanual reach-to-grasp movements in individuals with childhood-onset unilateral wrist dystonia.
Locomotor Adaptation by Transtibial Amputees Walking With an Experimental Powered Prosthesis Under Continuous Myoelectric Control
Lower limb amputees can use electrical activity from their residual muscles for myoelectric control of a powered prosthesis. The most common approach for myoelectric control is a finite state controller that identifies behavioral states and discrete changes in motor tasks.
Variable Cadence Walking and Ground Adaptive Standing With a Powered Ankle Prosthesis
This paper describes a control approach that provides walking and standing functionality for a powered ankle prosthesis, and demonstrates the efficacy of the approach in experiments with a unilateral transtibial amputee subject. Both controllers incorporate a finite-state structure that emulates healthy ankle joint behavior via a series of piecewise passive impedance functions.
Development of an Environment-Aware Locomotion Mode Recognition System for Powered Lower Limb Prostheses
This paper aimed to develop and evaluate an environment- aware locomotion mode recognition system for volitional control of powered artificial legs. A portable terrain recognition (TR) module, consisting of an inertia measurement unit and a laser distance meter, was built to identify the type of terrain in front of the wearer while walking. A decision tree was used to classify the terrain types and provide either coarse or refined information about the walking environment.
Minimizing Stimulus Current in a Wearable Pudendal Nerve Stimulator Using Computational Models
After spinal cord injury, functions of the lower urinary tract may be disrupted. A wearable device with surface electrodes which can effectively control the bladder functions would be highly beneficial to the patients. A trans-rectal pudendal nerve stimulator may provide such a solution. However, the major limiting factor in such a stimulator is the high level of current it requires to recruit the nerve fibers.