Improving Intelligence of Robotic Lower-Limb Prostheses to Enhance Mobility for Individuals with Limb Loss

dc.contributor.advisor Young, Aaron
dc.contributor.author Bhakta, Krishan
dc.contributor.committeeMember Mazumdar, Anirban
dc.contributor.committeeMember Hammond III, Frank
dc.contributor.committeeMember Zhao, Ye
dc.contributor.committeeMember Chang, Young-Hui
dc.contributor.department Mechanical Engineering
dc.date.accessioned 2023-01-10T16:21:01Z
dc.date.available 2023-01-10T16:21:01Z
dc.date.created 2021-12
dc.date.issued 2021-12-14
dc.date.submitted December 2021
dc.date.updated 2023-01-10T16:21:01Z
dc.description.abstract The field of wearable robotics is an emerging field that seeks to create smarter and intuitive devices that can assist users improve their overall quality of life. Specifically, individuals with lower limb amputation tend to have significantly impaired mobility and asymmetric gait patterns that result in increased energy expenditure than able-bodied individuals over a variety of tasks. Unfortunately, most of the commercial devices are passive and lack the ability to easily adapt to changing environmental contexts. Powered prostheses have shown promise to help restore the necessary power needed to walk in common ambulatory tasks. However, there is a need to infer/detect the user's movement to appropriately provide seamless and natural assistance. To achieve this behavior, a better understanding is required of adding intelligence to powered prostheses. This dissertation focuses on three key research objectives: 1) developing and enhancing offline intent recognition systems for both classification and regression tasks using embedded prosthetic mechanical sensors and machine learning, 2) deploying intelligent controllers in real-time to directly modulate assistive torque in a knee and ankle prosthetic device, and 3) quantifying the biomechanical and clinical effects of a powered prosthesis compared to a passive device. The findings conducted show improvement in developing powered prostheses to better enhance mobility for individuals with transfemoral amputation and show a step forward towards clinical acceptance.
dc.description.degree Ph.D.
dc.format.mimetype application/pdf
dc.identifier.uri http://hdl.handle.net/1853/70087
dc.language.iso en_US
dc.publisher Georgia Institute of Technology
dc.subject Intent recognition
dc.subject Powered
dc.subject Prosthesis
dc.subject Transfemoral
dc.subject Wearable robotics
dc.title Improving Intelligence of Robotic Lower-Limb Prostheses to Enhance Mobility for Individuals with Limb Loss
dc.type Text
dc.type.genre Dissertation
dspace.entity.type Publication
local.contributor.advisor Young, Aaron
local.contributor.corporatename George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename College of Engineering
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relation.isOrgUnitOfPublication c01ff908-c25f-439b-bf10-a074ed886bb7
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
thesis.degree.level Doctoral
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