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Lower-limb prostheses are rapidly advancing with greater computing power and sensing modalities. This paper is an attempt to begin exploring the trade-off between extrinsic and intrinsic control modalities. In this case, between electromyographic (extrinsic) and several internal sensors that can be used for intrinsic control. We propose a method that will identify the particular features, taken from...
This paper presents a real-time implementation of an intent recognition system on one transfemoral (TF) amputee. Surface Electromyographic (EMG) signals recorded from residual thigh muscles and the ground reaction forces/moments collected from the prosthetic pylon were fused to identify three locomotion modes (level-ground walking, stair ascent, and stair descent) and tasks such as sitting and standing...
We present a dynamic neural network (DNN) solution for detecting instances of freezing-of-gait (FoG) in Parkinson's disease (PD) patients while they perform unconstrained and unscripted activities. The input features to the DNN are derived from the outputs of three triaxial accelerometer (ACC) sensors and one surface electromyographic (EMG) sensor worn by the PD patient. The ACC sensors are placed...
Muscular fatigue and muscle-activation patterns during a skiing demonstration (down a coarse around 4000 m long) was evaluated. Nine subjects participated in skiing trials and pre-training with a squat exercise. Surface electromyogram (SEMG) signals from the agonist and antagonist muscles around the knee at certain knee-joint angles were recorded. The SEMG signals showed that experienced skiers maintained...
This paper presents a design and implementation of a neural-machine interface (NMI) for artificial legs that can decode amputee's intended movement in real time. The newly designed NMI integrates an FPGA chip for fast processing and a microcontroller unit (MCU) with multiple on-chip analog-to-digital converters (ADCs) for real-time data sampling. The resulting embedded system is able to sample in...
Machine learning methods for interfacing humans with machines is an emerging area. Here we propose a novel algorithm for interfacing humans with powered lower limb prostheses for restoring control of naturalistic gait following amputation. Unlike most previous neural machine interfaces, our approach fuses control information from the user with sensor information from the prosthesis to approximate...
A previously developed neural-machine interface (NMI) based on neuromuscular-mechanical fusion has showed promise for recognizing user locomotion modes; however, errors of NMI during mode transitions were observed, which may challenge its real application. This study aimed to investigate whether or not the prior knowledge of walking environment could further improve the NMI performance. Linear Discriminant...
We investigated input (stimulus)-output (response) relations of the corticospinal pathway in the lower limb muscles during passive stepping using a robotic driven gait orthosis. Nine healthy adult subjects passively stepped with 40% body weight unloading (ground stepping) and 100% body weight unloading in the air (air stepping). During passive stepping, the motor evoked potentials (MEPs) of the lower...
We present data from cuff electrode recordings from a mixed sensory-/motor nerve as expressed during walking in chronically implanted Göttingen mini-pigs. Our results show that it is possible to filter out residual electromyographic interference and that the energy content of the resulting electroneurographic (ENG) signals modulate clearly with gait. The approach may be used to detect heel strike...
Functional electrical stimulation (FES) is used to assist spinal cord injury patients during walking. However, FES has yet to be shown to have lasting effects on the underlying neurophysiology which lead to long-term rehabilitation. A new approach to FES has been developed by which stimulation is timed to robotically controlled movements in an attempt to promote long-term rehabilitation of walking...
The main objective of this work was to evaluate and compare the effects of Functional Electrical Stimulation (FES) therapy in the walking ability and muscle strength studied by electromyography (EMG) analysis between subacute and chronic stroke patients. Eighteen consecutive hemiplegic patients suffering from foot drop were assigned either to subacute or chronic group. Patients of both groups' were...
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