Characterizing Intent Changes in Exoskeleton-Assisted Walking Through Onboard Sensors.

Robotic exoskeletons are a promising technology for rehabilitation and locomotion following musculoskeletal injury, but their adoption outside the physical therapy clinic has been limited by relatively primitive methods for identifying and incorporating the user's gait intentions. Various intent detection approaches have been demonstrated using electromyography and electroencephalography signals. These technologies sense the human directly but introduce complications for donning/doffing the device and in measurement consistency. By contrast, sensors onboard the exoskeleton avoid these complications but sense the human indirectly via the human-robot interface. This pilot study examines if onboard sensors alone may enable identification of user intent. Joint positions and commanded motor currents are compared prior to and after changes in the user's intended gait speed. Preliminary experimental results confirm that these measures are significantly different following intent changes for both able-bodied and non-able-bodied users. The findings suggest that intent detection is possible with onboard sensors alone, but the intent signals depend on exoskeleton control settings, user ability, and temporal considerations.

The use of synthetic ligaments in the design of an enhanced stability total knee joint replacement.

Current total knee replacement designs work to address clinically desired knee stability and range of motion through a balance of retained anatomy and added implant geometry. However, simplified implant geometries such as bearing surfaces, posts, and cams are often used to replace complex ligamentous constraints that are sacrificed during most total knee replacement procedures. This article evaluates a novel total knee replacement design that incorporates synthetic ligaments to enhance the stability of the total knee replacement system. It was hypothesized that by incorporating artificial cruciate ligaments into a total knee replacement design at specific locations and lengths, the stability of the total knee replacement could be significantly altered while maintaining active ranges of motion. The ligament attachment mechanisms used in the design were evaluated using a tensile test, and determined to have a safety factor of three with respect to expected ligamentous loading in vivo. Following initial computational modeling of possible ligament orientations, a physical prototype was constructed to verify the function of the design by performing anterior/posterior drawer tests under physiologic load. Synthetic ligament configurations were found to increase total knee replacement stability up to 94% compared to the no-ligament case, while maintaining total knee replacement flexion range of motion between 0° and 120°, indicating that a total knee replacement that incorporates synthetic ligaments with calibrated location and lengths should be able to significantly enhance and control the kinematic performance of a total knee replacement system.