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Intent Recognition in a Powered Lower Limb Prosthesis Using Time History Information

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Abstract

New computerized and powered lower limb prostheses are being developed that enable amputees to perform multiple locomotion modes. However, current lower limb prosthesis controllers are not capable of transitioning these devices automatically and seamlessly between locomotion modes such as level-ground walking, stairs and slopes. The focus of this study was to evaluate different intent recognition interfaces, which if configured properly, may be capable of providing more natural transitions between locomotion modes. Intent recognition can be accomplished using a multitude of different signals from mechanical sensors on the prosthesis. Since these signals are non-stationary over any given stride, and gait is cyclical, time history information may improve locomotion mode recognition. The authors propose a dynamic Bayesian network classification strategy to incorporate prior sensor information over the gait cycle with current sensor information. Six transfemoral amputees performed locomotion circuits comprising level-ground walking and ascending/descending stairs and ramps using a powered knee and ankle prosthesis. Using time history reduced steady-state misclassifications by over half (p < 0.01), when compared to strategies that did not use time history, without reducing intent recognition performance during transitions. These results suggest that including time history information across the gait cycle can enhance locomotion mode intent recognition performance.

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Acknowledgments

The authors would like to acknowledge Tom Idstein and the electronics team at the Center for Bionic Medicine, Rehabilitation Institute of Chicago for their support. Additional acknowledgements include Todd Kuiken for his scientific and clinical advise, Robert Lipschutz and Beth Halsne for prosthetic fitting support, Suzanne Finucane for patient physical therapy support, and Kim Ingraham for data collection. This work was supported in part by the US Army’s Telemedicine and Advanced Technology Research Center under Grant Number 81XWH-09-2-0020. A.J. Young was supported by a National Defense Science and Engineering Graduate Fellowship.

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Authors and Affiliations

  1. Center for Bionic Medicine, The Rehabilitation Institute of Chicago, 345 E Superior St., Suite 1309, Chicago, IL, 60611, USA

    Aaron J. Young, Ann M. Simon, Nicholas P. Fey & Levi J. Hargrove

  2. Department of Biomedical Engineering, Northwestern University, Chicago, IL, USA

    Aaron J. Young

  3. Department of Physical Medicine and Rehabilitation, Northwestern University, Chicago, IL, USA

    Ann M. Simon, Nicholas P. Fey & Levi J. Hargrove

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  1. Aaron J. Young
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  2. Ann M. Simon
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Correspondence to Aaron J. Young.

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Associate Editor Thurmon E. Lockhart oversaw the review of this article.

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Young, A.J., Simon, A.M., Fey, N.P. et al. Intent Recognition in a Powered Lower Limb Prosthesis Using Time History Information. Ann Biomed Eng 42, 631–641 (2014). https://doi.org/10.1007/s10439-013-0909-0

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  • DOI: https://doi.org/10.1007/s10439-013-0909-0

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