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Controlling Locomotion over Continuously Varying Activities for Agile Powered Prosthetic Legs

Award Number: R01HD094772
ORGANIZATION: NATIONAL INSTITUTE OF CHILD HEALTH AND HUMAN DEVELOPMENT
OPDIV: NIH
AWARD CLASS: DISCRETIONARY
AWARD ACTIVITY TYPE: SCIENTIFIC/HEALTH RESEARCH (INCLUDES SURVEYS)

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PROJECT ABSTRACT The overall goal of this project is to model human joint biomechanics over continuously-varying locomotion to enable adaptive control of powered above-knee prostheses. Above-knee amputees often struggle to perform the varying activities of daily life with conventional prostheses due to the lack of positive mechanical work and active control. Emerging powered prostheses have motors that can perform these missing functions, but the biomechanics experienced by the user depend on the control of these motors. The way the prosthesis interacts with both the user and environment can be controlled through joint impedance—the relationship between joint motion and torque. Prosthetic joint impedance is typically defined via a stiffness, viscosity, and equilibrium angle for discrete phases of gait within a limited set of discrete activities, but this framework does not allow continuous variations of steady-state activities (e.g., walking at different speeds/inclines) or continuous transitions between activities (e.g., walk to stair ascent). The central hypothesis of this project is that variable joint impedance can be parameterized by a continuous model based on measurable quantities called phase and task variables. This project will use machine learning to identify variable impedance functions from able-bodied data including joint perturbation responses across the phase/task space to bias the solution toward biological values. The resulting impedance model will be used with real-time estimates of phase and task variables to control a custom powered knee-ankle prosthesis and the Össur PowerKnee across activities. The specific aims are as follows: Aim 1: Model and control joint impedance over continuums of steady-state activities. Hypothesis: We hypothesize that knee and ankle impedance during walking and stair climbing can be modeled and controlled as continuous functions of gait phase, speed, and terrain inclination. Aim 2: Model and control joint impedance over continuous transitions between activities. Hypothesis: We hypothesize that knee and ankle impedance during continuous transitions between sitting, standing, walking, and stair climbing can be modeled and controlled as functions of transitional task variables. Aim 3: Implement continuous impedance controller and clinician interface on commercial hardware. Hypothesis: The impedance control system implemented on the Össur PowerKnee with a partially-automated tuning process will improve amputee endurance and symmetry over activities of daily life. This project will be scientifically significant to understanding how human joint mechanics continuously adapt to varying tasks and terrains, technologically significant to designing agile, biomimetic powered prosthetic legs for community ambulation, and clinically significant to the widespread adoption of intuitive powered prostheses for improved patient outcomes. The adaptability and clinical viability of this control paradigm will have a profound impact on mobility and quality of life for nearly a million Americans with lower-limb loss.


Issue Date FY	Funding FY	Legal Entity Name	Legal Entity Address	Legal Entity City	Legal Entity State	Legal Entity Zip Code	Legal Entity COUNTY	Legal Entity COUNTRY	Assistance Listing	Award Code	Budget Year	Action Date	Action Type	Action Amount

Issue Date FY: 2024 ( Subtotal = $616,965 )
2024	2024	REGENTS OF THE UNIVERSITY OF MICHIGAN	1109 GEDDES AVE, SUITE 3300	ANN ARBOR	MI	48109	WASHTENAW	USA	Child Health and Human Development Extramural Research	000	7	11/30/2023	COMPETING CONTINUATION	$616,965
														Subtotal = $616,965

Issue Date FY: 2023 ( Subtotal = $441,003 )
2023	2023	REGENTS OF THE UNIVERSITY OF MICHIGAN	503 THOMPSON ST	ANN ARBOR	MI	48109	WASHTENAW	USA	Child Health and Human Development Extramural Research	000	6	11/18/2022	NON-COMPETING CONTINUATION	$396,903
2023	2023	REGENTS OF THE UNIVERSITY OF MICHIGAN	503 THOMPSON STREET	ANN ARBOR	MI	48109	WASHTENAW	USA	Child Health and Human Development Extramural Research	001	6	2/7/2023	NON-COMPETING CONTINUATION	$44,100
														Subtotal = $441,003

Issue Date FY: 2022 ( Subtotal = $527,348 )
2022	2022	REGENTS OF THE UNIVERSITY OF MICHIGAN	503 THOMPSON ST	ANN ARBOR	MI	48109	WASHTENAW	USA	Child Health and Human Development Extramural Research	001	5	12/15/2021	SUPPLEMENT FOR EXPANSION	$78,175
2022	2022	REGENTS OF THE UNIVERSITY OF MICHIGAN	503 THOMPSON ST	ANN ARBOR	MI	48109	WASHTENAW	USA	Child Health and Human Development Extramural Research	000	5	12/9/2021	NON-COMPETING CONTINUATION	$396,439
2022	2022	REGENTS OF THE UNIVERSITY OF MICHIGAN	503 THOMPSON ST	ANN ARBOR	MI	48109	WASHTENAW	USA	Child Health and Human Development Extramural Research	002	5	4/25/2022	NON-COMPETING CONTINUATION	$44,048
2022	2022	REGENTS OF THE UNIVERSITY OF MICHIGAN	503 THOMPSON ST	ANN ARBOR	MI	48109	WASHTENAW	USA	Child Health and Human Development Extramural Research	003	5	4/25/2022	SUPPLEMENT FOR EXPANSION	$8,686
														Subtotal = $527,348

Issue Date FY: 2021 ( Subtotal = $86,861 )
2021	2021	REGENTS OF THE UNIVERSITY OF MICHIGAN	503 THOMPSON ST	ANN ARBOR	MI	48109	WASHTENAW	USA	Child Health and Human Development Extramural Research	001	4	6/4/2021	SUPPLEMENT FOR EXPANSION	$86,861
2021	2020	REGENTS OF THE UNIVERSITY OF MICHIGAN	503 THOMPSON ST	ANN ARBOR	MI	48109	WASHTENAW	USA	Child Health and Human Development Extramural Research	000	4	5/31/2021	NON-COMPETING CONTINUATION	$0
														Subtotal = $86,861

Issue Date FY: 2020 ( Subtotal = $457,594 )
2020	2020	REGENTS OF THE UNIVERSITY OF MICHIGAN	503 THOMPSON ST	ANN ARBOR	MI	48109	WASHTENAW	USA	Child Health and Human Development Extramural Research	004	4	5/18/2020	NON-COMPETING CONTINUATION	$446,707
2020	2019	REGENTS OF THE UNIVERSITY OF MICHIGAN	503 THOMPSON ST	ANN ARBOR	MI	48109	WASHTENAW	USA	Child Health and Human Development Extramural Research	001	3	1/2/2020	CHANGE OF GRANTEE / TRAINING INSTITUTION / AWARDING INSTITUTION	$458,506
2020	2019	REGENTS OF THE UNIVERSITY OF MICHIGAN	503 THOMPSON ST	ANN ARBOR	MI	48109	WASHTENAW	USA	Child Health and Human Development Extramural Research	003	3	4/6/2020	CHANGE OF GRANTEE / TRAINING INSTITUTION / AWARDING INSTITUTION	$166,369
2020	2019	UNIVERSITY OF TEXAS AT DALLAS	800 W CAMPBELL RD	RICHARDSON	TX	75080	DALLAS	USA	Child Health and Human Development Extramural Research	000	2	12/31/2019	NON-COMPETING CONTINUATION	-$447,619
2020	2018	UNIVERSITY OF TEXAS AT DALLAS	800 W CAMPBELL RD	RICHARDSON	TX	75080	DALLAS	USA	Child Health and Human Development Extramural Research	002	1	4/6/2020	NEW	-$166,369
														Subtotal = $457,594

Issue Date FY: 2019 ( Subtotal = $447,619 )
2019	2019	UNIVERSITY OF TEXAS AT DALLAS	800 W CAMPBELL RD	RICHARDSON	TX	75080	DALLAS	USA	Child Health and Human Development Extramural Research	000	2	5/2/2019	NON-COMPETING CONTINUATION	$447,619
														Subtotal = $447,619

Issue Date FY: 2018 ( Subtotal = $474,602 )
2018	2018	UNIVERSITY OF TEXAS AT DALLAS	800 W CAMPBELL RD	RICHARDSON	TX	75080	DALLAS	USA	Child Health and Human Development Extramural Research	001	1	9/24/2018	NEW	$0
2018	2018	UNIVERSITY OF TEXAS AT DALLAS	800 W CAMPBELL RD	RICHARDSON	TX	75080	DALLAS	USA	Child Health and Human Development Extramural Research	000	1	8/9/2018	NEW	$474,602
														Subtotal = $474,602

Grand Total All Awards = $3,051,992

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Controlling Locomotion over Continuously Varying Activities for Agile Powered Prosthetic Legs

Award Number: R01HD094772

ORGANIZATION: NATIONAL INSTITUTE OF CHILD HEALTH AND HUMAN DEVELOPMENT

OPDIV: NIH

AWARD CLASS: DISCRETIONARY

AWARD ACTIVITY TYPE: SCIENTIFIC/HEALTH RESEARCH (INCLUDES SURVEYS)

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