LOWER LIMB PROSTHESIS: FINAL PROTOTYPE RELEASE AND CONTROL SETTING METHODOLOGIES

Vicentini Federico, Canina Marita, Rovetta Alberto

2005

Abstract

The current research activity on prostheses project at the Robotics Laboratory (Mechanics Department, Politecnico di Milano) is carried on in cooperation with Centro Protesi INAIL and STMicroelectronics. The team is both innovative and interesting, owing to the fact that it not only involves a range of specialists but also gives rise to interdisciplinary aspects. They are absolutely essential in project dealing with such complex issues. This Mechanic-Leg project, called Hermes, is an original solution in the field of prosthesis. Main aim of this research is the prototyping of a new kind of mechanical lower limb with an electronic control. The device, resorting to innovatory mechanical and electronic solutions, allows the controller to modify the type of step, passing from a slow to a fast walk, in an easy and intuitive way, taking care of patient’s requirements. The Hermes M-Leg cost is comparable to the actual commercial non electronic controlled artificial knees. The distinguishing features of Hermes M-Leg project are an higher awareness in innovative aspects related to medical/biological/engineering research. Then, a pervasive use of cutting-edge technology (electronics, IT, material-related technologies, etc.). The controller architecture is built upon a low memory processing features. The hard analysis and test activity help to model the algorithm for step control. The adaptive behaviour is mostly due to an effective experience in testing and software tuning in cooperation with patients and clinical staff.

References

  1. Dornig A., Le molle, CLUP 1973
  2. Canina M., Vicentini F., Rovetta A., Innovative Design, Development And Prototyping Of Knee Prosthesis, in Proceedings of ROBTEP 2004, Automation - Robotics in theory and practice, 2004
  3. Canina M., Vicentini F., Rovetta A., Innovative Wide Sensors Integration for Smart Bio-robotic Prosthesis Control , in Proceedings of RAAD'04, 13th International Workshop on Robotics , 2004
  4. AAVV, Otto Bock Manuale Protesi, Protesi per arto inferiore - SCHIELE & SCHON 1988
  5. AAVV, Biomechanics of the musculo-skeletal system (II edition) - Wiley 1999
  6. Nam P. Suh, The principles of Design - Oxford University Press 1990
  7. Kapandji, Fisiologia articolare - Soc Editrice DEMIRoma 1974
  8. AAVV, Ausili e ortesi in medicina, Vol. 3 - Editrice Ricerca Medica (Na) 1998
  9. Rovetta A., Canina M., Campa G., Della Santina S., Biorobotic design criteria for Innovative Limb Prosthesis, 9th International Symposium on Intelligent Robotic Systems, SIRS'2001, Toulouse, France, 18-20 July 2001
  10. Rovetta A., Canina M., Allara P., Campa G., Della Santina S., Biorobotic design criteria for Innovative Limb Prosthesis, Icar 2001, International Conference on Advanced Robotics, Budapest, 22-26 August 2001
  11. Rovetta, M.Canina, P. Allara, G. Campa, S. Della Santina, “Biorobotic design criteria for Innovative Limb Prosthesis”, Mechanika - 2001, Proceedings of the International Conference, Kaunas, Lituania, April 2001
  12. M. Canina, G. Verni, P. Valentini, Gamba “intelligente” cambia il passo secondo il terreno, in La Repubblica Salute anno 7 n. 286, 20 settembre 2001
  13. Hugh Herr, “ Presentation highlights: Prosthetic and orthotic limbs”, J. Rehabilitation Res.& Dev. Vol. 39 N° 3 (supplement) pp11-12, 2002
  14. D. Zlatnik, “Intelligently controlled above knee prosthesis,” the 4th Int. conf. on motion and vibration control.
  15. J. H. Kim, J. H. Oh, 2001, “ Development of an above knee prosthesis using MR damper and leg simulator,” Proc. Conf. Rob. Aut., Seoul, 1998
  16. J. Slavica, J. Tamara, G. Vladimir, P. Dejan, “Three machine learning techniques for automatic determination of rules to control locomotion,” IEEE Trans. Biomedical Eng., Vol. 46, N°3, pp 300-310, 1999
  17. M. S. Ju, Y. F. Yang and T.C. Hsuch, “Development of actively controlled electro-hydraulic above-knee prosthesis,” Proc. Romansy 10/ the 10th CISMIFToMM symposium, theory and practice of robots and manipulators, Spring-Verlag Ed., pp 367-372, 1995
  18. M. Canina et all., “Innovative system for the accumulation of energy of the step in a limb prosthesis,” accepted at 11th World Cong. Mech. Mach. Science, August 18- 21, 2003, China.
  19. B. M. Nigg, W. Herzog, 1999, “Biomechanics of the musculo-skeletal system,” 2nd edition, John Wiley and Sons, England.
  20. D. A. Winter, “ Biomechanics and motor control of human movement,” Wiley-Interscience Publication, 2nd edition, 1990
  21. L. Peeraer et all., “ Development of EMG-based mode and intent recognition algorithms for a computercontrolled above-knee prosthesis,” J. Biomed. Eng. vol. 12, May, pp178-182, 1990
  22. D. Popovic & all., “ Optimal control for the active above knee prosthesis,” J. biomed. Eng. Vol. 19, pp. 131- 150, 1991
  23. A. Rovetta, X. Wen, “ Biorobotic in a new artificial leg,” IEEE Int. Symp. on Int. Rob. and Manipulators, Krakow, 1990.
Download


Paper Citation


in Harvard Style

Federico V., Marita C. and Alberto R. (2005). LOWER LIMB PROSTHESIS: FINAL PROTOTYPE RELEASE AND CONTROL SETTING METHODOLOGIES . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-30-9, pages 232-241. DOI: 10.5220/0001185502320241


in Bibtex Style

@conference{icinco05,
author={Vicentini Federico and Canina Marita and Rovetta Alberto},
title={LOWER LIMB PROSTHESIS: FINAL PROTOTYPE RELEASE AND CONTROL SETTING METHODOLOGIES},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2005},
pages={232-241},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001185502320241},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - LOWER LIMB PROSTHESIS: FINAL PROTOTYPE RELEASE AND CONTROL SETTING METHODOLOGIES
SN - 972-8865-30-9
AU - Federico V.
AU - Marita C.
AU - Alberto R.
PY - 2005
SP - 232
EP - 241
DO - 10.5220/0001185502320241