Amputation

Teleoperation of an ankle-foot prosthesis with a wrist exoskeleton

Author(s): Cara Gonzalez Welker, Vincent Louie Chiu, Alexandra Voloshina, Steven H. Collins, Allison M. Okamura
Teleoperation of an ankle-foot prosthesis with a wrist exoskeleton 150 150 IEEE Transactions on Biomedical Engineering (TBME)
This work aims to mimic sensorimotor control pathways disrupted after amputation with a system that allows a user to teleoperate their ankle-foot prosthesis with a wrist exoskeleton while receiving augmented sensory feedback. We present a novel wrist exoskeleton design and two control strategies that dictate ankle prosthesis behavior based on wrist input. We validate all system components with benchtop testing and demonstrate that one individual with transtibial amputation can accurately command desired wrist trajectories while walking. Systems like this have the potential to provide insight into human motor control and improve functional gait metrics for people with lower-limb amputation. read more