Tesi etd-01232025-161543
Link copiato negli appunti
Tipo di tesi
Dottorato
Autore
FAGIOLI, ILARIA
URN
etd-01232025-161543
Titolo
Advancements in Robotic Lower Limb Prostheses: Development and Verification of Novel Technologies for Enhanced Mobility in Transfemoral Amputees
Settore scientifico disciplinare
ING-IND/34
Corso di studi
Istituto di Biorobotica - PHD IN BIOROBOTICA
Commissione
Presidente Prof. VITIELLO, NICOLA
Membro Prof. kevin de pauw
Membro Prof.ssa raffaella carloni
Membro Prof.ssa CREA, SIMONA
Membro Prof. TRIGILI, EMILIO
Membro Prof. kevin de pauw
Membro Prof.ssa raffaella carloni
Membro Prof.ssa CREA, SIMONA
Membro Prof. TRIGILI, EMILIO
Parole chiave
- lower limb prostheses
- Wearable robotics
Data inizio appello
09/07/2025;
Disponibilità
parziale
Riassunto analitico
Every year, over a million individuals undergo lower limb amputations
due to conditions such as diabetes, trauma, and vascular diseases. Among
these, transfemoral amputations are particularly disruptive, modifying nat
ural gait patterns, introducing compensatory movements, and increasing
the metabolic demands of walking, ultimately compromising balance and
overall quality of life. Robotic lower limb prostheses, which incorporate mo
tors, sensors, and control algorithms, offer a promising solution by restoring
joint function and improving mobility for transfemoral amputees. Although
robotic prostheses are primarily confined to the research domain, the recent
introduction of a few models to the market signals growing interest in these
innovative solutions. As the field of robotic lower limb prostheses evolves,
several challenges remain that must be addressed to ensure the widespread
adoption of these devices and make user-prosthesis interactions seamless and
intuitive.
This thesis aims at advancing the design and control of robotic prostheses
for individuals with transfemoral amputations through three main techno
logical contributions. The first contribution is the advancement of the Sen
sorized Prosthetic Foot (SPF), an optoelectronic sensory system designed to
estimate biomechanical variables and detect gait events in real time. This
work details the enhancements with respect to the first-generation design,
including a robust single-PCB architecture with improved wiring integration
and a streamlined assembly process. A calibration-free machine learning ap
proach was developed to enhance force measurement accuracy and gait event
detection.
The second contribution involves the design and verification of the Syn
ergy Prosthesis (SynPro), an underactuated knee-ankle prosthesis that lever
ages natural kinematic synergies to coordinate multi-joint movements using
a single actuator. Extensive bench testing and experimental verification
with three transfemoral amputees demonstrated the compatibility of knee
ankle underactuation for various locomotion tasks, including walking, stair negotiation, and sit-stand transitions.
The third contribution is the development of a compact robotic knee
prosthesis based on a series elastic actuator (SEA). This design incorporates
a torsional SEA to achieve precise torque control and inherent compliance,
facilitating a more natural interaction with the environment. A dynamic
simulation framework was developed to aid components selection, allow
ing to quickly assess various combinations of motors, transmissions, and
spring stiffness. A continuously variable impedance controller was imple
mented and compared with traditional finite-state machine control during
level-ground walking and stair ascent. Results indicate that the variable
impedance approach can deliver biomimetic performance and better align
with clinically relevant goals with reduced tuning complexity, as demon
strated in a case study with a transfemoral amputee.
Overall, the innovations presented in this thesis represent significant ad
vancements in prosthetic sensing technologies, design concepts that reduce
power requirements, and enhanced user-prosthesis interaction. The promis
ing results obtained so far have potential for future improvements, with
the ultimate goal of transitioning advanced prosthetic technologies from the
laboratory to clinical practice.
due to conditions such as diabetes, trauma, and vascular diseases. Among
these, transfemoral amputations are particularly disruptive, modifying nat
ural gait patterns, introducing compensatory movements, and increasing
the metabolic demands of walking, ultimately compromising balance and
overall quality of life. Robotic lower limb prostheses, which incorporate mo
tors, sensors, and control algorithms, offer a promising solution by restoring
joint function and improving mobility for transfemoral amputees. Although
robotic prostheses are primarily confined to the research domain, the recent
introduction of a few models to the market signals growing interest in these
innovative solutions. As the field of robotic lower limb prostheses evolves,
several challenges remain that must be addressed to ensure the widespread
adoption of these devices and make user-prosthesis interactions seamless and
intuitive.
This thesis aims at advancing the design and control of robotic prostheses
for individuals with transfemoral amputations through three main techno
logical contributions. The first contribution is the advancement of the Sen
sorized Prosthetic Foot (SPF), an optoelectronic sensory system designed to
estimate biomechanical variables and detect gait events in real time. This
work details the enhancements with respect to the first-generation design,
including a robust single-PCB architecture with improved wiring integration
and a streamlined assembly process. A calibration-free machine learning ap
proach was developed to enhance force measurement accuracy and gait event
detection.
The second contribution involves the design and verification of the Syn
ergy Prosthesis (SynPro), an underactuated knee-ankle prosthesis that lever
ages natural kinematic synergies to coordinate multi-joint movements using
a single actuator. Extensive bench testing and experimental verification
with three transfemoral amputees demonstrated the compatibility of knee
ankle underactuation for various locomotion tasks, including walking, stair negotiation, and sit-stand transitions.
The third contribution is the development of a compact robotic knee
prosthesis based on a series elastic actuator (SEA). This design incorporates
a torsional SEA to achieve precise torque control and inherent compliance,
facilitating a more natural interaction with the environment. A dynamic
simulation framework was developed to aid components selection, allow
ing to quickly assess various combinations of motors, transmissions, and
spring stiffness. A continuously variable impedance controller was imple
mented and compared with traditional finite-state machine control during
level-ground walking and stair ascent. Results indicate that the variable
impedance approach can deliver biomimetic performance and better align
with clinically relevant goals with reduced tuning complexity, as demon
strated in a case study with a transfemoral amputee.
Overall, the innovations presented in this thesis represent significant ad
vancements in prosthetic sensing technologies, design concepts that reduce
power requirements, and enhanced user-prosthesis interaction. The promis
ing results obtained so far have potential for future improvements, with
the ultimate goal of transitioning advanced prosthetic technologies from the
laboratory to clinical practice.
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