RESUMO
Powered ankle-foot prostheses assist users through plantarflexion during stance and dorsiflexion during swing. Provision of motor power permits faster preferred walking speeds than passive devices, but use of active motor power raises the issue of control. While several commercially available algorithms provide torque control for many intended activities and variations of terrain, control approaches typically exhibit no inherent adaptation. In contrast, muscles adapt instantaneously to changes in load without sensory feedback due to the intrinsic property that their stiffness changes with length and velocity. We previously developed a "winding filament" hypothesis (WFH) for muscle contraction that accounts for intrinsic muscle properties by incorporating the giant titin protein. The goals of this study were to develop a WFH-based control algorithm for a powered prosthesis and to test its robustness during level walking and stair ascent in a case study of two subjects with 4-5 years of experience using a powered prosthesis. In the WFH algorithm, ankle moments produced by virtual muscles are calculated based on muscle length and activation. Net ankle moment determines the current applied to the motor. Using this algorithm implemented in a BiOM T2 prosthesis, we tested subjects during level walking and stair ascent. During level walking at variable speeds, the WFH algorithm produced plantarflexion angles (range = -8 to -19°) and ankle moments (range = 1 to 1.5 Nm/kg) similar to those produced by the BiOM T2 stock controller and to people with no amputation. During stair ascent, the WFH algorithm produced plantarflexion angles (range -15 to -19°) that were similar to persons with no amputation and were ~5 times larger on average at 80 steps/min than those produced by the stock controller. This case study provides proof-of-concept that, by emulating muscle properties, the WFH algorithm provides robust, adaptive control of level walking at variable speed and stair ascent with minimal sensing and no change in parameters.
RESUMO
The goal of developing high fidelity simulation of muscle force is of considerable interest for the biomedical community. Traditionally Hill models have been incorporated. However, feasible scope of the Hill model is inherently limited, especially in light of the growing relevance of muscle history dependence. History dependence is considered to be significant for motor control and stability. Attempts have been made to augment the Hill model to emulate history dependence. The titin winding filament model best elucidates history dependence of muscle force including force enhancement. The recent version of the titin winding filament model accounts for the functionality of titin through a pulley linked with the contractile element and a linear spring to represent the elastic properties of titin. A new and more realistic amendment to the winding filament model is incorporation of an exponential spring to characterize the elastic properties of titin. A sensitivity study as a function of the titin exponential spring constant is presented. Overall the amalgamation of the titin exponential spring to the winding filament model improves the respective force enhancement characteristics with a relatively more optimal exponential spring constant that provides a maximal averaged coefficient of determination.
