NCT06138977 Controlling Locomotion Over Continuously Varying Activities for Agile Powered Prosthetic Legs

Trial Parameters

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Brief Summary

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. 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.

Eligibility Criteria

Inclusion criteria for able-bodied participants will be: * Aged between 18 to 65 years Exclusion criteria for able-bodied, young adult participants will be: * Pregnant (self-report) * Any significant neuromuscular or musculoskeletal disorder that would interfere with the study * Unable to walk for 20 minutes * History of any cardiovascular, vestibular, or visual diseases and/or impairments that may interfere with the study * Cognitive deficits that would impair their ability to give informed consent or impair their ability to follow simple instructions during the experiments. In the case of screening for cognitive deficits, the consenting researcher will ask the subject if he/she has any prior history of cognitive deficits. * Adults with a known allergy to medical grade tape Inclusion criteria for subjects with amputation will be: * Aged between 18 to 70 years. * Weigh less than 250 lbs due to limitations in the design of the prosthesis. * Amputee subjects will be more than two months

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