NDLI: Volitional Control of a Prosthetic Knee Using Surface Electromyography

Content Provider	IEEE Xplore Digital Library
Author	Ha, K.H. Varol, H.A. Goldfarb, M.
Copyright Year	1964
Abstract	This paper presents a method for providing volitional control of a powered knee prosthesis during nonweight-bearing activity such as sitting. The method utilizes an impedance framework, such that the joint can be programmed with a given stiffness and damping that reflects the nominal impedance properties of an intact joint. Volitional movement of the knee joint is commanded via the stiffness set-point angle of the joint impedance, which is commanded by the user as a function of the measured surface electromyogram (EMG) from the hamstring and quadriceps muscles of the residual limb. Rather than using the respective EMG measurements from these muscles to directly command the flexion or extension set point of the knee, the presented approach utilizes a combination of quadratic discriminant analysis and principal component analysis to align the user's intent to flex or extend the knee joint with the pattern of measured EMG. The approach was implemented on three transfemoral amputees, and their ability to control knee movement was characterized by a set of knee joint trajectory tracking tasks. Each amputee subject also performed the same set of trajectory tracking tasks with his sound side (intact) knee joint. The average root mean square trajectory tracking errors of the prosthetic knee employing the EMG-based volitional control and the intact knee of the three subjects were 6.2° and 5.2°, respectively.
Sponsorship	IEEE Engineering in Medicine and Biology Society
Page Count	8
File Size	727623
Starting Page	144
Ending Page	151
File Format	PDF
ISSN	00189294
Volume Number	58
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Knee Electromyography Joints Prosthetics Trajectory Electrodes Impedance transfemoral prosthesis lower-limb prosthesis myoelectric control powered prosthesis
Content Type	Text
Resource Type	Article
Subject	Biomedical Engineering

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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