Method of continuously determining the correct gait for challenging environments for powered prosthesis.

Powered prostheses aim to mimic biological limbs with controllers that are finely tuned to replicate the nominal gait pattern of able-bodied individuals. Unfortunately, this control approach poses a problem with real-world ambulation, which includes tasks such as crossing over obstacles, where the prosthesis trajectory must be modified to provide adequate foot clearance and ensure timely foot placement. Prosthesis controller with intrinsic, volitional adaptability may provide prosthesis users with functionality that is not currently available, facilitating real-world ambulation in uneven terrains and minimizing concern of users of tripping or falling along with the proceeding embarrassment of such a fall.

This prosthetic controller can continuously detect and calculate the appropriate swing-gate for a user at multiple speeds and in irregular environments. It does not pre-plan prosthesis trajectory at the beginning of leg swing but instead is driven by movements of the user’s residual limb without an explicit classification of the environmental constraints.

Pre-Clinical Validation

• Enables individuals with above-knee amputations to seamlessly and volitionally change foot clearance
• Takes away concerns of tripping in the prosthesis.
• Prothesis users having a more natural gait.

Mendez, J., Hood, S., Gunnel, A., & Lenzi, T. (2020). Powered knee and ankle prosthesis with indirect volitional swing control enables level-ground walking and crossing over obstacles. Science robotics, 5(44). DOI: 10.1126/scirobotics.aba6635

Huy Tran
(801) 581-7792
huy.tran@utah.edu