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Real-time Adaptation of Deep Learning Walking Speed Estimators Enables Biomimetic Assistance Modulation in an Open-Source Bionic Leg
Jairo Maldonado-Contreras;Cole Johnson;Sixu Zhou;Hanjun Kim;Ian Knight;Kinsey R. Herrin;Aaron J. Young
IEEE Transactions on Medical Robotics and Bionics
Year: 2025 | Early Access Article |
This study introduces a novel continual learning algorithm that incrementally improves the performance of deep-learning-based walking speed estimators during level-ground walking with a powered knee-ankle prosthesis. While user-dependent (DEP) estimators generally outperform user-independent (IND) estimators, they require the pre-collection of DEP training data. In contrast, our real-time algorith...Show More
Mode-Unified Intent Estimation of a Robotic Prosthesis Using Deep-Learning
Hanjun Kim;Dawit Lee;Jairo Y. Maldonado-Contreras;Sixu Zhou;Kinsey R. Herrin;Aaron J. Young
Traditional robotic knee-ankle prostheses categorize ambulation modes such as level walking, ramps, and stairs. However, human movement scales continuously across various states rather than discretely, making traditional mode classifiers inadequate for accurate intent recognition. This letter proposes a mode-unified intent recognition strategy that continuously estimates terrain slopes across five...Show More
Robotic Ankle Exoskeleton and Limb Angle Biofeedback for Assisting Stroke Gait: A Feasibility Study
Kinsey R. Herrin;Yi-Tsen Pan;Trisha M. Kesar;Gregory S. Sawicki;Aaron J. Young
Post-stroke gait is slow, energetically costly, and unstable. Rehabilitation is necessary to encourage, retrain, and assist proper gait mechanics in stroke survivors. Evidence indicates robotic ankle exoskeletons can improve gait outcomes in stroke survivors, however challenges remain with proper lower limb positioning for optimal receipt of the assistance. Biofeedback can be used to improve posit...Show More
Design and Validation of a Versatile High Torque Quasidirect Drive Hip Exoskeleton
Aakash Bajpai;Carlos Carrasquillo;Jessica Carlson;Julian Park;Divya Iyengar;Kinsey Herrin;Aaron J. Young;Anirban Mazumdar
The field of wearable robotics has made significant progress toward augmenting human functions from multimodal ambulation to manual lifting tasks. However, most of these systems are designed to be task-specific and only focus on a single type of movement (e.g., ambulation). In this work, we design, fabricate, and characterize a versatile hip exoskeleton testbed for lifting and ambulation tasks. Th...Show More
Reducing Knee Hyperextension With an Exoskeleton in Children and Adolescents With Genu Recurvatum: A Feasibility Study
Dawit Lee;Max K. Shepherd;Sierra C. Mulrine;Julianne D. Schneider;Kelly F. Moore;Erin M. Eggebrecht;Benjamin M. Rogozinski;Kinsey R. Herrin;Aaron J. Young
Genu recurvatum, or knee hyperextension, is a complex gait pattern with a variety of etiologies, and is often connected with knee weakness, lack of motor control, and spasticity. Because of the atypical forces placed on the soft tissues, early treatment or prevention of knee hyperextension may help prevent further degradation of the knee joint. In this study, we assessed the feasibility of a knee ...Show More
The Modernization of Preoperative Scoliosis Curvature Correction Methods for Pediatric Patients
Charles Brenner;Kinsey Herrin;Alexander Ambrose;Brian Emling;Michael Schmitz;Richard Welling;Frank L. Hammond
2023 International Symposium on Medical Robotics (ISMR)
Year: 2023 | Conference Paper |
Scoliosis is the lateral curvature of the spine in the coronal plane, and kyphosis is the posterior curvature of the spine in the sagittal plane. For pediatric patients, these conditions can occur independently or in conjunction with one another and vary in severity. Most pediatric scoliosis cases are treated through bracing, but severe cases require surgical curvature correction. To reduce the ri...Show More
OpenSim Model for Biomechanical Analysis with the Open-Source Bionic Leg
Jonathan Camargo;Krishan Bhakta;Jairo Maldonado-Contreras;Sixu Zhou;Kinsey Herrin;Aaron Young
2022 International Symposium on Medical Robotics (ISMR)
Year: 2022 | Conference Paper |
Cited by: Papers (3)
Lower-limb robotic prostheses present a potential solution for enhancing the mobility of individuals with amputation. However, comparing results amongst different research groups is a challenge as there are many differences between research devices. A recent effort from the University of Michigan created and established an open-source design for an active knee and ankle prosthesis with embedded se...Show More
FLEXotendon Glove-III: Voice-Controlled Soft Robotic Hand Exoskeleton With Novel Fabrication Method and Admittance Grasping Control
Phillip Tran;Seokhwan Jeong;Fanzhe Lyu;Kinsey Herrin;Shovan Bhatia;Drew Elliott;Scott Kozin;Jaydev P. Desai
This article presents a voice-controlled soft robotic hand exoskeleton for hand assistance. Cervical spinal cord injury results in a disruption of the nerve signals, causing paralysis and limited upper extremity function. The impairment significantly limits the completion of activities of daily living (ADL) due to the importance of hand function. Recently, there has been an increase in hand exoske...Show More
Quantifying Asymmetry Between Medial and Lateral Compartment Knee Loading Forces Using Acoustic Emissions
Hyeon Ki Jeong;Sungtae An;Kinsey Herrin;Keaton Scherpereel;Aaron Young;Omer T. Inan
Objective: Osteoarthritis is the most common type of knee arthritis that can be affected by excessive and compressive loads and can affect one or more compartments of the knee: medial, lateral, and patellofemoral. The medial compartment tends to be the most vulnerable to injuries and research suggests that a better understanding of the medial to lateral load distribution conditions could provide i...Show More
FLEXotendon Glove-III: Soft Robotic Hand Rehabilitation Exoskeleton for Spinal Cord Injury
Phillip Tran;Seokhwan Jeong;Kinsey Herrin;Shovan Bhatia;Scott Kozin;Jaydev P. Desai
2021 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2021 | Conference Paper |
Cited by: Papers (3)
Cervical spinal cord injury (SCI) can severely impact hand motor and sensory function, and accordingly, patients with SCI are often unable to complete basic everyday tasks without assistance. In recent years, there has been an increase in hand exoskeleton research due to their distinct advantages for improving rehabilitation. In this work, we present a voice-controlled, tendon-driven soft robotic ...Show More
Review: Hand Exoskeleton Systems, Clinical Rehabilitation Practices, and Future Prospects
Phillip Tran;Seokhwan Jeong;Kinsey R. Herrin;Jaydev P. Desai
Spinal cord injury (SCI) and stroke are pathologies that often result in the loss of/decrease in hand functionality. Hand function is a critical component of everyday life and therefore, a primary focus of clinical SCI/stroke rehabilitation is hand function recovery/improvement. In recent years, there has been a surge in hand exoskeleton research due to the potential for exoskeletons to improve cl...Show More
Evaluation of Continuous Walking Speed Determination Algorithms and Embedded Sensors for a Powered Knee & Ankle Prosthesis
Krishan Bhakta;Jonathan Camargo;William Compton;Kinsey Herrin;Aaron Young
Dynamically altering the parameters for assistance in a lower limb prosthesis is a challenge that depends directly on the ability to estimate gait parameters. Machine learning algorithms present an opportunity to develop methods for continuously determining walking speed in different conditions. Current state-of-the-art solutions involve using wearable sensors such as IMUs to estimate these parame...Show More
Machine Learning Model Comparisons of User Independent & Dependent Intent Recognition Systems for Powered Prostheses
Krishan Bhakta;Jonathan Camargo;Luke Donovan;Kinsey Herrin;Aaron Young
Developing intelligent prosthetic controllers to recognize user intent across users is a challenge. Machine learning algorithms present an opportunity to develop methods for predicting user's locomotion mode. Currently, linear discriminant analysis (LDA) offers the standard solution in the state-of-the-art for subject dependent models and has been used in the development of subject independent app...Show More
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