M. Abdelbar;Faranak Rostamjoud;Anna Lára Ármannsdóttir;Atli Örn Sverrisson;Kristín Briem;Sigurur Brynjólfsson
{"title":"肌电驱动控制器在胫骨假体中的比较案例研究","authors":"M. Abdelbar;Faranak Rostamjoud;Anna Lára Ármannsdóttir;Atli Örn Sverrisson;Kristín Briem;Sigurur Brynjólfsson","doi":"10.1109/TNSRE.2025.3602296","DOIUrl":null,"url":null,"abstract":"Lower limb amputation greatly affects quality of life by restricting functional mobility. Despite advancements in prosthetic design, powered transtibial prostheses still have limitations in user control and adaptability to dynamic environments. This research presents a comparative analysis between a novel electromyography (EMG)-driven variable impedance controller (VIC) and a hybrid controller (HC) that integrates a volitional EMG-driven musculoskeletal model with a finite-state machine impedance controller. A Hill-type muscle model was used to model the gastrocnemius and tibialis anterior muscles. Biomechanical testing was conducted with a transtibial amputee to assess the controllers’ performance across various tasks, including ambulation on level ground, stairs, and ramps, using EMG signals from the residual limb. Results demonstrated that the VIC provided more repeatable performance, perceived control, and power output. Notable effect sizes for peak power, observed in ramp ascent (Cohen’s d <inline-formula> <tex-math>$= -1.04$ </tex-math></inline-formula>) and high-speed level ground walking (Cohen’s d <inline-formula> <tex-math>$= -2.92$ </tex-math></inline-formula>), illustrate robust differences in joint-level output even when walking speeds and cadences were comparable. The greater predictability of the VIC led the user to feel more in control and comfortable throughout the various activities. On the other hand, the HC controller performed better in enabling more seamless transitions between gait subphases, particularly during stair ascent, which led to a significantly higher ROM (<inline-formula> <tex-math>$18.63~\\pm ~1.53$ </tex-math></inline-formula> deg vs. <inline-formula> <tex-math>$12.43~\\pm ~1.86$ </tex-math></inline-formula> deg) and nearly double peak power compared to the VIC. This comparison lays the groundwork for future research into optimizing EMG-based control strategies that adapt to both biomechanical demands and user preferences.","PeriodicalId":13419,"journal":{"name":"IEEE Transactions on Neural Systems and Rehabilitation Engineering","volume":"33 ","pages":"3388-3399"},"PeriodicalIF":5.2000,"publicationDate":"2025-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11138026","citationCount":"0","resultStr":"{\"title\":\"A Comparative Case Study of EMG-Driven Controllers in Transtibial Prostheses\",\"authors\":\"M. Abdelbar;Faranak Rostamjoud;Anna Lára Ármannsdóttir;Atli Örn Sverrisson;Kristín Briem;Sigurur Brynjólfsson\",\"doi\":\"10.1109/TNSRE.2025.3602296\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Lower limb amputation greatly affects quality of life by restricting functional mobility. Despite advancements in prosthetic design, powered transtibial prostheses still have limitations in user control and adaptability to dynamic environments. This research presents a comparative analysis between a novel electromyography (EMG)-driven variable impedance controller (VIC) and a hybrid controller (HC) that integrates a volitional EMG-driven musculoskeletal model with a finite-state machine impedance controller. A Hill-type muscle model was used to model the gastrocnemius and tibialis anterior muscles. Biomechanical testing was conducted with a transtibial amputee to assess the controllers’ performance across various tasks, including ambulation on level ground, stairs, and ramps, using EMG signals from the residual limb. Results demonstrated that the VIC provided more repeatable performance, perceived control, and power output. Notable effect sizes for peak power, observed in ramp ascent (Cohen’s d <inline-formula> <tex-math>$= -1.04$ </tex-math></inline-formula>) and high-speed level ground walking (Cohen’s d <inline-formula> <tex-math>$= -2.92$ </tex-math></inline-formula>), illustrate robust differences in joint-level output even when walking speeds and cadences were comparable. The greater predictability of the VIC led the user to feel more in control and comfortable throughout the various activities. On the other hand, the HC controller performed better in enabling more seamless transitions between gait subphases, particularly during stair ascent, which led to a significantly higher ROM (<inline-formula> <tex-math>$18.63~\\\\pm ~1.53$ </tex-math></inline-formula> deg vs. <inline-formula> <tex-math>$12.43~\\\\pm ~1.86$ </tex-math></inline-formula> deg) and nearly double peak power compared to the VIC. 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引用次数: 0
摘要
下肢截肢限制了患者的功能活动,严重影响了患者的生活质量。尽管假体设计取得了进步,但动力跨胫假体在用户控制和对动态环境的适应性方面仍然存在局限性。本研究提出了一种新型肌电(EMG)驱动的可变阻抗控制器(VIC)和一种混合控制器(HC)之间的比较分析,混合控制器将意志肌电驱动的肌肉骨骼模型与有限状态机阻抗控制器集成在一起。采用hill型肌肉模型建立腓肠肌和胫骨前肌模型。生物力学测试通过残肢肌电信号来评估控制器在各种任务中的表现,包括在平地、楼梯和坡道上行走。结果表明,VIC提供了更多的可重复性能,感知控制和功率输出。在坡道上升(Cohen 's d $= -1.04$)和高速平地行走(Cohen 's d $= -2.92$)中观察到的峰值功率的显著效应表明,即使在行走速度和节奏相当的情况下,关节水平输出也存在显著差异。VIC更大的可预测性使用户在各种活动中感到更有控制力和舒适。另一方面,HC控制器在实现步态子阶段之间的无缝过渡方面表现更好,特别是在爬楼梯时,这导致了显著更高的ROM ($18.63~\pm ~1.53$ deg vs $12.43~\pm ~1.86$ deg)和与VIC相比几乎两倍的峰值功率。这种比较为未来研究优化基于肌电图的控制策略奠定了基础,该策略既适应生物力学需求,又适应用户偏好。
A Comparative Case Study of EMG-Driven Controllers in Transtibial Prostheses
Lower limb amputation greatly affects quality of life by restricting functional mobility. Despite advancements in prosthetic design, powered transtibial prostheses still have limitations in user control and adaptability to dynamic environments. This research presents a comparative analysis between a novel electromyography (EMG)-driven variable impedance controller (VIC) and a hybrid controller (HC) that integrates a volitional EMG-driven musculoskeletal model with a finite-state machine impedance controller. A Hill-type muscle model was used to model the gastrocnemius and tibialis anterior muscles. Biomechanical testing was conducted with a transtibial amputee to assess the controllers’ performance across various tasks, including ambulation on level ground, stairs, and ramps, using EMG signals from the residual limb. Results demonstrated that the VIC provided more repeatable performance, perceived control, and power output. Notable effect sizes for peak power, observed in ramp ascent (Cohen’s d $= -1.04$ ) and high-speed level ground walking (Cohen’s d $= -2.92$ ), illustrate robust differences in joint-level output even when walking speeds and cadences were comparable. The greater predictability of the VIC led the user to feel more in control and comfortable throughout the various activities. On the other hand, the HC controller performed better in enabling more seamless transitions between gait subphases, particularly during stair ascent, which led to a significantly higher ROM ($18.63~\pm ~1.53$ deg vs. $12.43~\pm ~1.86$ deg) and nearly double peak power compared to the VIC. This comparison lays the groundwork for future research into optimizing EMG-based control strategies that adapt to both biomechanical demands and user preferences.
期刊介绍:
Rehabilitative and neural aspects of biomedical engineering, including functional electrical stimulation, acoustic dynamics, human performance measurement and analysis, nerve stimulation, electromyography, motor control and stimulation; and hardware and software applications for rehabilitation engineering and assistive devices.