Adaptive Slope Walking With a Robotic Transtibial Prosthesis Based on Volitional EMG Control

Abstract

Allowing amputees to volitionally control robotic prostheses can improve the adaptability to terrain changes. In this paper, we propose a myoelectric controller for a robotic transtibial prosthesis to realize adaptive slope walking. It works together with the intrinsic controller, enabling amputee users to pay relatively less attention on myoelectric control during walking. Amputee users convey the information of ground slope to prostheses by consciously performing dorsiflexion and plantar flexion of the “phantom ankle” with different intensities at the beginning of the swing phase. Two channels of surface electromyographic signals are measured from the residual shank, and they are mapped to the inclination angle of the slope. Control parameters of the intrinsic controller are then calculated according to the estimated inclination angle. In this preliminary study, two transtibial amputee subjects were recruited. They were asked to convey six targeted inclination angles ( <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math>$\bf \pm 5^{\circ}$</tex-math></inline-formula> , <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math>$\bf \pm 10^{\circ}$</tex-math></inline-formula> , and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math>$\bf \pm 15^{\circ}$</tex-math></inline-formula> ) to the prosthesis with the trained myoelectric controller during level-ground walking, and satisfactory control performance was achieved. This experiment was designed to simulate the scenario of transiting from level-ground walking to slope walking. Experimental results of controlling the robotic prosthesis to walk on level ground and slopes further verified that it is promising for amputees to adaptively walk on the ground with varied inclination angles in daily life.