Intuitive and versatile bionic legs: a perspective on volitional control

Abstract

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Active lower limb prostheses show large potential to offer energetic, balance, and versatility improvements to users when compared to passive and semi-active devices. Still, their control remains a major development challenge, with many different approaches existing. This perspective aims at illustrating a future leg prosthesis control approach to improve the everyday life of prosthesis users, while providing a research road map for getting there. Reviewing research on the needs and challenges faced by prosthesis users, we argue for the development of versatile control architectures for lower limb prosthetic devices that grant the wearer full volitional control at all times. To this end, existing control approaches for active lower limb prostheses are divided based on their consideration of volitional user input. The presented methods are discussed in regard to their suitability for universal everyday control involving user volition. Novel combinations of established methods are proposed. This involves the combination of feed-forward motor control signals with simulated feedback loops in prosthesis control, as well as online optimization techniques to individualize the system parameters. To provide more context, developments related to volitional control design are touched on.

Keywords

• lower limb prostheses
• bionic legs
• voluntary control
• electromyography
• human-in-the-loop optimization