From: EMG-driven control in lower limb prostheses: a topic-based systematic review
Ref. | Walking controller | Slope/speed adaptation | Additional modalities | Training/calibration time |
---|---|---|---|---|
Direct control | ||||
[64] | EMG-triggered knee joint lock during stance phase | SlA\(^{\star }\), SpA\(^{\star }\) | All (STA\(^{\star }\)) | NN |
[29] | EMG-proportional modulation of knee joint velocity | SlA, SpA\(^{\star }\) | All (not tested) | NS |
ML-driven knee joint angle trajectory generation | SlA, SpA | All (not tested) | CT: 10–15 s, per 2 sessions, per 5 days | |
[56] | EMG-driven knee joint stiffness set-point | SlA, SpA | All (NWB\(^{\star }\)) | ST: 1Â h, before each use |
EMG-driven knee joint stiffness set-point | SlA, SpA | All (STND\(^{\star }\), SIT\(^{\star }\), SQ\(^{\star }\), STA\(^{\star }\), NWB\(^{\star }\)) | ST: 3Â h, per 4 sessions; CT: 2 h trajectory tracking trials | |
[57] | EMG-driven multi-DoF knee and ankle joint stiffness set-point | SlA, SpA | All (NWB\(^{\star }\)) | ST: therapist session; CT: 3 s per 64 trials, per 4 sessions |
[37] | ML-driven knee joint angle trajectory generation | SlA, SpA | All (not tested) | NS |
[16] | EMG-driven ankle joint stiffness set-point | SlA, SpA | All (NWB\(^{\star }\)) | CT: 10 trials (\(\sim\) 80 s) |
EMG-proportional plantarflexor torque generation | SlA, SpA | All (not tested) | CT: NS | |
[76] | EMG-triggered ankle plantarflexion and dorsiflexion | NI | NI | CT: NS |
[11] | EMG-decoded ankle and knee joint angle trajectory generation | SlA\(^{\star }\) | All (STA\(^{\star }\), STD\(^{\star }\)) | CT: \(\sim\) 20 trials per task |
EMG-proportional plantarflexor torque generation | SlA, SpA | All | ST: limited acclimation period | |
Pattern recognition control | ||||
[98] | EMG-driven knee FSM (Stance [Post-HS, FF and Pre-TO], swing [SF, SE]) | SlA | NI | Adaptation period of 20 min; FSM CT: NS |
[70] | Knee joint moment control as function of EMG-driven locomotion identification | SlA\(^{\star }\), SpA\(^{\star }\) | STA\(^{\star }\), STD\(^{\star }\) | FSM CT: NS |
[5] | EMG-driven FSM for level ground walking and stairs climbing | SlA, SpA | STA\(^{\star }\) | FSM CT: NS; ST < 20 min |
ML-driven knee joint FSM (Stance [Post-HS, Pre-TO], swing [Post-TO, Pre-HS]) | SlA\(^{\star }\) | OBST\(^{\star }\), STND\(^{\star }\), STA\(^{\star }\), STD\(^{\star }\), TURN\(^{\star }\) | FSM CT: \(\sim\) 15 min (3 times each task) | |
[53] | CPG-generated knee and ankle joint trajectories as function of ML-driven locomotion identification | NI | STND\(^{\star }\), SIT\(^{\star }\), STA\(^{\star }\), STD\(^{\star }\) | FSM CT: NS |
[85] | ML-driven knee joint FSM (Stance [Post-HS, FF, Pre-TO], swing [Post-TO, Pre-HS]) | NI | STA\(^{\star }\), STD\(^{\star }\) | FSM CT: 50 gait cycles per task |
ML-driven knee joint FSM (Stance [Post-HS, FF, Pre-TO], swing [Post-TO, Pre-HS]) | NI | NI | FSM CT: 70 gait cycles | |
ML-driven knee joint FSM (Stance [Post-HS, Pre-TO], swing [Post-TO, Pre-HS]) | SlA\(^{\star }\) | STA\(^{\star }\), STD\(^{\star }\) | ST: therapist sessions; FSM CT: \(\sim\) 30s (5 times per task) | |
ML-driven ankle joint FSM (Stance [Post-HS, Pre-TO], swing) | SlA\(^{\star }\), SpA\(^{\star }\) | STA\(^{\star }\), STD\(^{\star }\) | FSM CT: 21 trials in total, 6–7 steps per trial | |
[120] | ML-driven FSM for multi-DoF ankle joint | SlA, SpA | All (NWB\(^{\star }\)) | FSM CT: 3Â s per 8 trial, per 7 tasks |
ML-driven knee joint FSM (Stance [Post-HS, Pre-TO], swing [Post-TO, Pre-HS]) | NI | STND\(^{\star }\), SIT\(^{\star }\), NWB\(^{\star }\) | FSM CT: NS | |
Knee and ankle joint impedance characterization as function of ML-driven locomotion identification | SlA\(^{\star }\) | STA\(^{\star }\), STD\(^{\star }\), SIT\(^{\star }\), NWB\(^{\star }\) | Intrinsic controller parameters tuning (NS); FSM CT: 10–20 trials per task | |
[17] | ML-driven ankle joint impedance characterization based terrain inclination classification | SlA\(^{\star }\) | NI | Intrinsic controller parameters tuning (NS); CT: 3 sessions; ST: \(\sim\) 5 h |
[106] | EMG-triggered knee joint motion routine | NI | NI | NS |
ML-driven ankle joint FSM | SlA\(^{\star }\) | STA\(^{\star }\), STD\(^{\star }\) | FSM CT: 5 gait cycles per trial; ST: 5 min per task | |
Model-based control | ||||
[6] | EMG-driven model-based ankle joint angle trajectory generation | SlA, SpA | All (NWB\(^{\star }\)) | Virtual environment training: NS |
[61] | EMG-driven model-based knee joint impedance characterization | SlA, SpA | All (not tested) | CT: NS |
EMG-driven model-based knee joint impedance characterization | SlA, SpA | All (NWB\(^{\star }\)) | CT: trajectory tracking trials, walking experiments | |
EMG-modulation of model-based ankle joint moment trajectory | SlA, SpA | All (STA\(^{\star }\), STD\(^{\star }\)) | CT: 10 steps | |
[19] | Hybrid ML-NMS model-based knee joint moment generation | SlA, SpA\(^{\star }\) | All(STND\(^{\star }\), SIT\(^{\star }\)) | CT: 3–10 trials per motor task |