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IEEE Trans Biomed Eng. 2011 Oct;58(10):2867-75. doi: 10.1109/TBME.2011.2161671. Epub 2011 Jul 14.

Continuous locomotion-mode identification for prosthetic legs based on neuromuscular-mechanical fusion.

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Department of Electrical, Computer, and Biomedical Engineering, University of Rhode Island, Kingston, RI 02881, USA.


In this study, we developed an algorithm based on neuromuscular-mechanical fusion to continuously recognize a variety of locomotion modes performed by patients with transfemoral (TF) amputations. Electromyographic (EMG) signals recorded from gluteal and residual thigh muscles and ground reaction forces/moments measured from the prosthetic pylon were used as inputs to a phase-dependent pattern classifier for continuous locomotion-mode identification. The algorithm was evaluated using data collected from five patients with TF amputations. The results showed that neuromuscular-mechanical fusion outperformed methods that used only EMG signals or mechanical information. For continuous performance of one walking mode (i.e., static state), the interface based on neuromuscular-mechanical fusion and a support vector machine (SVM) algorithm produced 99% or higher accuracy in the stance phase and 95% accuracy in the swing phase for locomotion-mode recognition. During mode transitions, the fusion-based SVM method correctly recognized all transitions with a sufficient predication time. These promising results demonstrate the potential of the continuous locomotion-mode classifier based on neuromuscular-mechanical fusion for neural control of prosthetic legs.

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