Evaluating and Improving Assistive Robotic Devices Continuously and in Real-time

Lower limb assistive robotic devices, such as active prosthesis, orthoses, and exoskeletons
have the potential to restore function for the millions of Americans who experience mobility
challenges due to injury and disability. Since individuals with mobility challenges have an
increased metabolic costs of transport, the benefit of such assistive devices is commonly
assessed via the reduction in the metabolic work rate of the individual who is using the
device. Currently, metabolic work rate can only be obtained in a laboratory environment,
using breath-by-breath measurements of respiratory gas analysis. To obtain a single steady
state data point of metabolic work rate, multiple minutes of data must be collected, since
the signals are noisy and slow. In addition, the user has to wear a mask and bulky equipment.
The investigators propose an improved way to obtain such estimates of metabolic work rate in
real-time. In this project, the investigators will use various small sensors to optimize
push-off timing for an active ankle prosthesis.

Inclusion Criteria:

- Has a unilateral amputation

- Has used a prosthesis for at least 6 months

Exclusion Criteria:

- History of orthopedic or neurologic disorders to their intact limb

- History of cardiovascular disease

- Unable to walk for 30 minutes at a time